Page 302 - Flexible Robotics in Medicine

292 Chapter 13

segmented design offers more freedom in maneuvering in a tight space such as the
nasal cavity.

Hence, this project aims to develop a home-based self-administered device to monitor their
status regularly in the comfort of their homes. A user-operated flexible nasopharyngoscope
can carry out surveillance of the nasopharyngeal cavity, a space with average dimensions of
4 cm high, 4 cm wide, and 3 cm deep in adults [4]. We propose a flexible bending end-
effector (BEE) to operate in tandem with a wired mini-camera module, which will capture
images of the nasopharyngeal cavity walls, whilst the device is in operation. We have
developed the following main criteria for a home-based nasal pharyngeal endoscope: wide
viewing angle, user-friendly, and minimal contact with surrounding tissues during use.

Due to spatial constraints of the nasopharyngeal cavity as well as the nasal passages
through which the device will enter the operating space, a flexible BEE is necessary to
provide a surveillance capability within a limited space. We proposed a flexible vase-spine
modular design, which allows for a near 180-degree field of vision when used with the
mini-camera module within the nasopharyngeal cavity. Insertion of a flexible BEE into the
nasopharyngeal cavity is to be motorized and can be manually operated if necessary, to
avoid discomfort.

For designing the functional prototype for a flexible BEE, we determine the essential design
acceptance criteria for the device as follows:
1. There should be no sharp or angular edges throughout the length of BEE in order to
ensure minimal discomfort to the user.
2. The flexible vase-spine modular design of BEE should have segments that fit securely
within each other to ensure safety for the user.
3. BEE should achieve a 360-degree observation field with an arc of $ 90 degrees.
4. BEE should be motorized/automated optional for ease of home-based administration.
5. There should be an accurately translated motion between the joystick user control
interface and the flexible mobile tip of BEE.
6. BEE should be restricted to a diameter of # 6 mm to ensure smooth translation of the
device through the nasal passages and into the nasopharyngeal cavity of the user with
minimal contact to the surrounding tissue.
7. BEE should be made of a biocompatible polymeric material to ensure safety,
reduction in weight, and reduction in cost.
8. The chosen biocompatible polymeric material for BEE should be wear-resistant to
prevent the generation of particulate matter at any time within the nasal cavities
during the operation of the device.
9. BEE should have a means and conduit via which the provided mini-camera module
can be attached and therefore carry out its intended function.
10. BEE should be able to carry out an equivalent to similar medical devices.