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CHAPTER 16

Robotic transluminal Pan-and-Tilt Scope

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Wong Wei Min , Lau Jin Yue , Yeo Xi Shun Edward , Wong Jia Ying , Chwee
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Ming Lim and Hongliang Ren 1
1 2
Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore
General Hospital, Bukit Merah, Singapore

We present a transluminal Pan-and-Tilt Scope (P.A.T.S or PATS) for nasopharyngeal
exploration, intended for the self-administered, in-vivo surveillance of nasopharyngeal
carcinoma (NPC). PATS is a steerable nasopharyngeal explorer system that comprises of a
steerable nasopharyngoscope actuated by motors and a nose plate that serves to guide
home-based users. The primary design consideration is for the scope to be steerable to
allow a better view of the nasopharynx region. In order to view the surroundings swiftly
and thoroughly, we adopted a tilting mechanism coupled with rotation. The inspiration for
PATS came from the eyeball, where the camera would be mounted at the distal tip, and the
tip would be able to tilt and rotate like the eyeball. The user specifications define the user
needs with corresponding needs-metrics matrices, establish the target specifications and
acceptance criteria, and meet the needs. Then the design is ultimately to meet the
requirements with rationale and verifications. The patent search reviews the proprietary
position and subsequent reassessment after design adjustment. It covers vital aspects of the
development of P.A.T.S such as the ring, the tip containing a groove, the sheath containing
a groove, the servo, and stepper motors and the four control buttons, as well as the
stainless-steel cables used to control the tilting and rotation of the ring. In the future, with
the use of PATS, patients can observe the nasopharynx region for early detection of NPC.

16.1 Introduction

Cancerous cells develop within the tissues of the nasopharynx, which is the region behind
the nose and above the mouth and throat. In terms of epidemiology, nasopharyngeal
carcinoma (NPC) is more commonly found in China, Southeast Asia, and other Asian
countries, while it is rarely found in America and other Western countries [1]. There are
four stages for the staging of NPC. Most patients are only diagnosed at later stages, Stage
III or Stage IV. As the life expectancy of patients decreases with delayed treatment, there is
an urgent need for early detection of NPC [2]. NPC is ranked 6th in the list of cancer

Flexible Robotics in Medicine.
DOI: https://doi.org/10.1016/B978-0-12-817595-8.00001-8 363
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