Page 453 - Flexible Robotics in Medicine

Flexible drill manipulator utilizing different rolling sliding joints for transoral drilling 447

Figure 19.28
Conceptual design of Goldrill GR3 handle.

would allow for greater miniaturization of the device and reliability. Using stainless steel,
the diameter of the Goldrill GR3 can be further reduced to achieve an easier fit through
the trachea.

We conceptualized a one-handed handle for the Goldrill GR3 (Fig. 19.28). The key features
of this design allow for a one-handed, ergonomic tightening of the tendon wires using a
ratchet mechanism. This allows for the fine-tuning of tension of the locking segments for
the perfect secure fit within the trachea.

Critical future development is the manufacturing of a complete set of modular segment
shapes. This will allow the Goldrill to function as a modular tool that can be applied to a
tracheostomy. Much like drill bit heads and tools in a toolbox, a surgeon will be able to
select the appropriate sets for the best effect in each situation.

19.8 Supplementary summary

The proposed flexible drill endotracheal manipulator, which is capable of a stable,
omnidirectional bending. This enables more straightforward navigation of contours down