Page 410 - Flexible Robotics in Medicine
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404 Chapter 18
• Motion from the joystick can be translated accurately to forceps distal end.
• Forceps should be rigid and stable to remove a sample.
• Forceps jaw is able to cut through the tissue cleanly to provide ease of removal.
• Biocompatible polymeric material to be selected to ensure safety and minimize cost.
• The material selected is to be resistant to tension such that it will not break when it is
being withdrawn from within the lumen of the endoscope.
• Forceps are able to perform an equivalent or better than forceps currently in use.
18.2 Methods
18.2.1 Overall design
The EndoGoose consists of three subsystems:
• Bending section: gooseneck, beads, spring
• Forceps: a pair of forceps, forceps holder, hinge, hinge cap
• Motorized cable-driven active bending (proximal-distal manipulation): control box
(body and cover), Arduino Uno, step-motor, two gears, forceps string, cable.
The body of EndoGoose (Fig. 18.2) is made up of a flexible spine, comprising of multiple
similar beads with a central hole and four holes along the sides (one on each side) of the
bead. Through the central hole of the beads is a gooseneck, which has a particular
combination of flexibility and rigidity. The gooseneck is made up of a helical spring and a
Figure 18.2
Bending segments and distal end of EndoGoose.
