Page 382 - Flexible Robotics in Medicine
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Robotic transluminal Pan-and-Tilt Scope 375
Figure 16.13
Measurement of deflection of P.A.T.S using a protractor.
Figure 16.14
(Left) Upper angle and (Right) Lower angle.
restricting the body of the device to bend too much to cause discomfort or injuries to the
subjects.
16.3.2 Viewing angles
In order to determine the maximum viewing area of the nasopharynx area, the viewing
angle of the tilting mechanism is measured.
As shown in Fig. 16.14, it is seen that the camera holder can tilt around 45 degrees up and
around 55 degrees down. Therefore P.A.T.S has a viewing angle of around 45 55 degrees.
Our envisioned device is to be able to tilt 90 degrees on both sides. However, the threading
and attachment of wires on the camera holder are not very appropriate, affecting the
effectiveness of the full tilting of the camera holder.
