Page 6 - Flexible Robotics in Medicine
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vi Contents
Chapter 3: Cable-driven flexible endoscope utilizing diamond-shaped perforations:
FlexDiamond ...................................................................................... 39
Bok Seng Yeow, Yan Bing Soh, Hui-Min Chua, Jun Hao Edmund Ong,
Jing Chun Teo, Wei Yang Un, Chwee Ming Lim and Hongliang Ren
3.1 Clinical background of nasopharyngeal carcinoma .............................................. 39
3.2 Specifications and instrumentation....................................................................... 44
3.3 Prototype description ........................................................................................... 47
3.4 Design verification............................................................................................... 51
3.5 Design specifications, review, and benchmarking................................................ 59
3.6 Patent analysis ..................................................................................................... 68
3.7 Conclusion........................................................................................................... 71
Acknowledgment ......................................................................................................... 74
References ................................................................................................................... 74
Chapter 4: Flexible steerable manipulator utilizing complementary configuration of
multiple routing grooves and ball joints for stable omnidirectional
bending .............................................................................................. 77
Denise Ying, Darren Poh, Li Ting, Lui Marius, Vanessa Tiew, Zion Tsz Ho Tse
and Hongliang Ren
4.1 Introduction ......................................................................................................... 77
4.2 Methods............................................................................................................... 79
4.3 Design verification............................................................................................... 87
4.4 Patentability analysis ........................................................................................... 93
4.5 Conclusion and future developments ................................................................... 97
References ................................................................................................................... 98
Chapter 5: Modular origami joint operator to create bendable motions with
multiple radii.....................................................................................101
Abigail Thomson, Calvin Tan Song Hao, Lim Wei Han Darius, Ong Yanhui,
Annabelle, Pivatidevi Pareatumbee, Zion Tsz Ho Tse, Chwee Ming Lim
and Hongliang Ren
5.1 Introduction ....................................................................................................... 101
5.2 Design and prototyping...................................................................................... 105
5.3 Design rationale and specifications.................................................................... 117
5.4 Design verification and validation ..................................................................... 123
5.5 Further patents benchmarking and remarks........................................................ 140
5.6 Conclusion remarks and future work ................................................................. 146
Acknowledgment ....................................................................................................... 147
References ................................................................................................................. 147
