Page 318 - Flexible Robotics in Medicine

308 Chapter 13

Figure 13.22
Step 4—The release of tension in the mechanically driven nylon thread attached to the flexible tip
via rotational stepper motors will allow the nasopharyngoscope to revert to its straight formation.
The device can then be removed from the nasopharyngeal cavity via the reversal of the
translational stepper motor.

13.6 Design verification

Design verification is an essential step in the development of any prototype, as it ensures
that the prototype was fabricated as intended (according to the design acceptance criteria).

13.6.1 Design parameter verification

Before verification for design parameters, we perform kinematic and mathematical analysis
of BEE in order to determine theoretical values by which we could gauge the performance
of the prototype. The calculations and relevant illustrations are shown as follows
(Figs. 13.23 and 13.24):
The theoretical maximum bending angle at joint:

h 0
θ max 5 2 arctan :
D
Substituting the following values:
h 0 5 2:6 mm and D 5 6:0mm;