Page 311 - Flexible Robotics in Medicine

Design evolution of a flexible robotic bending end-effector for transluminal explorations 301

Figure 13.14
The dimensions for the main conduit module and relevant illustrations.

Table 13.1: Specifications of BEE.

Flexible length 35 mm
Connector tube shaft length 110 mm
Overall endoscope length 145 mm
Shaft diameter 6 mm
Weight of endoscopic component 3.201 g
Articulation range 76 degrees up/down and left/right
Height of adjustable stand 21.1 cm
13.0 cm
Field of view (camera) 85 degrees
Battery No battery required. Connect to an electrical socket.

The connector tube shaft was only introduced from Prototype 4.0 onward and generally
serves as a means by which the flexible tip of BEE is delivered to the nasopharyngeal
cavity. The connector tube shaft has not changed much in terms of its design and is simply
a long cylindrical tube. Based on the Olympus rigid borescopes X009-015-000-55C and
X017-015-000-52C that have a working length of approximately 150 mm Olympus [5],as
well as the Ecleris rigid laryngoscope LR067000 which has a diameter of 6 mm [6], the
connector tube shaft was correspondingly designed to be approximately 110 mm in length
2
and 6 mm in diameter. Together with the 35 mm long flexible tip, the total working length
of BEE comes to 145 mm, which is comparable to that of a borescope.

Additionally, the connector tube shaft must also be connected to the gear rack, as the
translational motion of the connector tube shaft through the nasal orifices is entirely
motorized and user-controlled. The nonworking end of the connector tube shaft is thus
cuboidal and is adjoined to said gear rack via a press fit.

2
Length of one camera holder, four main conduit modules, and three connector modules adjoined in series.