Page 455 - Flexible Robotics in Medicine
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Flexible drill manipulator utilizing different rolling sliding joints for transoral drilling 449
To perform the tracheostomy surgery procedure, instruments will first enter from the
mouth, down the oral cavity, and into the trachea. As it proceeds into the trachea, there will
be variations in the cross-sectional area of the trachea lumen due to the presence of tracheal
rings and the other tissue layers. Therefore, the flexible bending of the instrument allows
for better access to the trachea.
Figure 19.S2
Drawings of modular segment 1.1.
Figure 19.S3
Drawings of modular segment 1.2.
