Page 179 - Flexible Robotics in Medicine

Handheld flexible robot with concentric tubes aiming for intraocular procedures 165

Figure 6.13
Experiment setup. A ruler was secured in place and used as a guide for positioning the camera. A
clamp stand was used to keep the device in the same position. Position images overlay to show
the range of motions.

device maneuvered about the insertion point to demonstrate the possible range of tube
orientations (Fig. 6.14) and deflections (Fig. 6.13) that would still allow the robot to reach
the target location. Similarly, this exercise can be repeated with a straight needle. The
image overlay in Fig. 6.14 shows the maximum target location. The angles were measured
as θ 1 5 12.2 degrees, θ 2 5 24.6 degrees, and θ 3 5 36.5 degrees, which is a 48% 49%