Page 153 - Flexible Robotics in Medicine

Modular origami joint operator to create bendable motions with multiple radii 139

Figure 5.35
Measure of deviation.

Fig. 5.36
Full bending repeatability of pneumatics bending angle versus tendon-driven bending angle (mean
and standard deviations).

5.4.3 Device validation

5.4.3.1 Repeatability

From Fig. 5.36, the average deflection angle for a pneumatics-based approach was 72.3
degrees, and that of the tendon-based approach was 87.9 degrees. In order to be able to drill
efficiently, there must be a sufficient contact area and stable contact between the drill and
inner wall of the trachea. The maximum area of contact can be considered to occur at
90 degrees, and the drill will therefore be able to deliver the maximum force at that point.