Page 299 - Flexible Robotics in Medicine

CHAPTER 13

Design evolution of a flexible robotic

bending end-effector for transluminal

explorations

1
1
1
U-Jin Joshua Cheah , Pin Rong Tan , Zhongren Thaddaeus Ong ,
2
1
1
Angelique Huan , Muhammad Amzar Bin Mohd Faisal , Zion Tsz Ho Tse ,
3
Chwee Ming Lim and Hongliang Ren 1
1 2
Department of Biomedical Engineering, National University of Singapore, Singapore, The University
3
of York, Heslington, York, United Kingdom, Singapore General Hospital, Bukit Merah, Singapore
Of the numerous diagnostic methods available, direct nasopharyngoscopy is perhaps the
most frequently utilized method in examining the nasopharynx for signs and symptoms
associated with nasopharyngeal carcinoma (NPC). However, this method requires a trained
medical practitioner and can be cumbersome. This, coupled with the fact that NPC is
prevalent in individuals of Asian or Southern Chinese ancestry, is the motivation for the
development of a flexible bending end-effector (BEE), aiming for an easily accessible,
useroperated flexible nasopharyngoscope for transnasal explorations. The main conduits,
coupled with the connector module, make up the flexible vase-spine modular design, which
differentiates BEE from other preexisting flexible manipulator designs. The design rationale
and verifications eventually evolve of the BEE modules. The BEE is partially automated
with the joystick control interface for remote operations.

13.1 Introduction

The pharynx (throat) is composed of three subregions—the nasopharynx, oropharynx, and
hypopharynx. The nasopharynx is the uppermost subregion and is the site of
nasopharyngeal carcinoma (NPC), commonly starts in the squamous cells that line the
nasopharynx. NPC is cancer in the nasopharynx, which is behind the nose and just above
the back of the throat. The exact cause of NPC is unsure, but scientists believe that it is
associated with the Epstein Barr virus (EBV). NPC will arise when DNA from the virus
causes mutation, as it integrates with the nasopharynx cells. It is hard to detect symptoms in
the initial stages of NPC, but the more noticeable symptoms include lumps in neck or nose,

Flexible Robotics in Medicine.
DOI: https://doi.org/10.1016/B978-0-12-817595-8.00014-6 289
© 2020 Elsevier Inc. All rights reserved.