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Flexible drill manipulator utilizing different rolling sliding joints for transoral drilling 431

19.4.3 Drilling force on the trachea

The Goldrill GR3 drill requires a certain amount of force to drill through the cartilage of
the trachea. If the drill is not pushed firmly against the object it is drilling through, it will
begin to slide around and become unstable.

19.4.4 Stability of the bending segment

When interlocked together, the locking mechanism should be strong enough to resist forces
without becoming unhinged. This is because if the drilling force can cause the segments to
break away, this will compromise the stability of the bending segment. Thus, tests have
been conducted to ensure that the bending segment is always able to withstand a force
much larger than the force exerted by the drill tip.

Figure 19.11
Initial design of Goldrill GE1.