Page 436 - Flexible Robotics in Medicine

430 Chapter 19
Table 19.2: Metrics and design considerations.

Needs matrix Design considerations
Number Metric Importance Units Considered Measured
1 Flexible manipulation within the trachea 1 N Yes Yes
2 Stability of drilling tip 1 Degrees Yes No
3 Drilling force on the trachea 1 N/mm Yes Yes
4 Stability of the bending segment 1 N Yes Yes
5 Strength of tendon wires 1 N Yes Yes
6 Different tracheal sizes 2 No No
7 Size of device 2 Mm Yes Yes
8 Biocompatibility 3 No No
9 Durable for multiple uses 4 Cycles Yes No
10 Ergonomics/comfort of use 4 Yes No
11 Cost 5 $ No No

19.4 Needs matrix and technical advantages

The rationale for the entire Goldrill GR3 design is centered on the needs metrics matrix
generation. Hence the design was conceptualized to solve problems and needs identified at
this stage. The left side of Table 19.2 summarizes the essential needs of the Goldrill GR3,
while the right side of the table summarizes the design process if (1) the metric was
considered during the design process and (2) it was measured within the scope of the
project. More elaboration is given in Table 19.2.

19.4.1 Flexible manipulation within the trachea

The bending segment must be able to easily navigate within the curvature and shape
of the trachea for easy insertion and to avoid tissue damage. This is achieved in the
segmented design of the Goldrill GR3, allowing it to conform to the shape of the
trachea easily.

19.4.2 Stability of drilling tip

Stability is an essential factor for precise drilling and minimizing tissue damage. This is
achieved by the Goldrill GR3 when the segments interlock together to form a continuous,
rigid structure as a stable platform for the drill to operate on.

In addition, the Goldrill GR3 is made of polylactic acid (PLA), which is a more rigid
material that reduces the transmission of vibrations by the drill. Flexible materials such as
NinjaFlex are less suitable for a stable drill because its elastomeric properties transmit
vibration from the drill motor more quickly.