Page 317 - Flexible Robotics in Medicine

Design evolution of a flexible robotic bending end-effector for transluminal explorations 307

Figure 13.20
Step 2—Mechanically driven nylon thread attached to the flexible tip will be pulled via rotational
stepper motors, causing the endoscope tip to bend in a specified direction. The endoscope will be
able to bend in two planes, that is, right/left and up/down.

Figure 13.21
Step 3—The mini-camera module attached to the flexible tip will aid the user in observing for
signs and symptoms of NPC, as it is moved around the nasopharyngeal cavity via user control of
the flexible tip.