Page 295 - Flexible Robotics in Medicine

Flexible robotic platform with multiple-bending tendon-driven mechanism 285

degree of flexibility due to the independence of each tendon string as well as having a
multisection design of the flexible tip.

However, the control aspect of the platform is still primitive, which only supports
teleoperation and requires numerous trials and coordination of the tendon strings to reach
the intended block. Hence, as a result, a more concrete software system is required to
ensure more natural coordination in manipulating the tendon strings for reaching the target
location.

12.4.5 Practical application via cadaveric testing

The aim of a cadaveric test (Fig. 12.14) is to test the performance of the robotic platform in a
practical medical scenario. The robotic platform aims to perform a part of the micro-laryngeal
surgical procedure by conducting a biopsy in the oral region through bimanual robotic operation
(Fig. 12.14). This means that the robotic platform will be paired with another existing platform
with a single-section flexible manipulator to conduct this experiment. The flexible robotic arm
is fitted with a tissue burner, while the other platform is fitted with a gripper.
From the test conducted, it can be concluded that the multisection robotic platform has
more excellent maneuverability as compared to the single-section platform due to its ability
to adopt various shapes and work around the single-section flexible manipulator to perform
the procedure. This provides the platform with operating flexibility in the oral region
without impeding the movements of the other platform.

Figure 12.14
Setup in a cadaveric test where a tissue burner is fitted onto the flexible manipulator arm to
perform a bimanual operation (biopsy) on a cadaver head, paired with another existing single-
section manipulator platform.