Page 306 - Flexible Robotics in Medicine

296 Chapter 13

Wire housing

Chin rest

Frame

Stand
Figure 13.5
Prototype 7.0 full assembly.

2
1

3
2

4

Figure 13.6
Prototype 7.0 nasopharyngoscope assembly 1 exploded view.

had to be long enough to span the length between the external environment and the
nasopharyngeal cavity through the nasal orifices. This working length was determined to be
1
145 mm. Prototypes 4.0 onward were also created using rapid prototyping technology
using VeroClear plastic.

With the introduction of stepper motors in order to achieve an automated user-controlled
design, the design eventually evolved into prototype 7.0, which includes a frame to house
three stepper motors (Fig. 13.5, two for rotational motion of the flexible tip, one

1
Comparative to the Olympus rigid borescope X009-015-000-55C, which has a working length of 150 mm.