Page 327 - Flexible Robotics in Medicine

Design evolution of a flexible robotic bending end-effector for transluminal explorations 317
Table 13.2: Medical-needs table.

Need no. Customer need Importance
2 Full surveillance for nasopharyngeal cavity 1
3 Safety of mechanism 2
4 Self-administered and ease of use 3
5 Patient comfort 3
6 Sterile 1
7 Stability 2
8 Corrosion, wear, and crack-resistant 3

Table 13.3: Metrics table.
Metric Need
no. no. Metric Importance Unit
1 1, 2 Bending of flexible tip for wide viewing angle 1 Degrees
2 3, 5 Small diameter of the shaft 1 mm
3 3, 4, 5, Speed of insertion into nasal cavity to be 2 mm/s
7 controllable
4 3, 4, 5, Speed of bending of the flexible tip to be 2 Degrees/s
7 controllable
5 4, 7 User-enabled, automated control for a device 3 Yes/No
6 7, 8 Durable with fatigue strength and life 3 MPa
7 5, 6 Sterility 2 Sterility assurance level
(SAL)

Table 13.4: Needs-metrics matrix.
Bending of Speed of Speed of User- Durable
flexible tip Small insertion into bending of enabled, with
for wide diameter the nasal the flexible automated fatigue
viewing of the cavity to be tip to be control for strength
angle shaft controllable controllable a device and life Sterility
Full surveillance X
for
nasopharyngeal
cavity
Safety of X X X
mechanism
Self- X X X
administered
and ease of use
Patient comfort X X X X
Sterile X
Stability X X X X
Corrosion, X
wear, and
crack-resistant