Page 331 - Flexible Robotics in Medicine

Design evolution of a flexible robotic bending end-effector for transluminal explorations 321
Table 13.10: Other device’s versus BEE’s control.

Table 13.11: Existing bronchoscopy devices’ angulation plane.

Benchmarking is essential to assess existing prototypes, design, and technology to facilitate
comparison and prototype analysis so that the advantages and disadvantages of each
prototype can be established.

13.7.1 Main difference in the structure of endoscope components

Typical medical endoscopes for surveying the nasal cavity are mostly entirely flexible or
entirely rigid. BEE’s endoscope component consists of both rigid and flexible components.
The rigid component is the secure shaft connector, while the flexible endoscope component
allows for the angulation of the distal tip.
BEE is unique because of its characteristic flexible vase-spine modular design, which
allows for a near 180-degree field of vision when used with the mini-camera module within
the nasopharyngeal cavity.