Page 76 - Flexible Robotics in Medicine

60 Chapter 3
Table 3.7: Generation of metrics tabulated according to their importance with 1 being the most
important and 5 being the least important.

Metrics table
Metrics no. Needs no. Metric Importance (1 5) Units
1 1 Articulation range 1 Degrees
2 2, 3 Optical zooming capability 1 Yes/No
3 3 Stability 1 Yes/No
4 4, 7 Automatic mechanism 2 Manual/semi/full
5 5 Resistance to deformation 2 Yes/No
6 8 Distal tip diameter 3 mm
7 4, 8 Speed of insertion 3 Fast/slow
8 6, 9 Cost of prototype 4
9 4, 6 Working length 5 mm

3.5.3 Needs-metrics matrix

Table 3.8: Needs-metrics matrix table for a clear comparison of how each metric satisfies the
required need.

Needs-metrics matrix
Metrics no.
1 2 3 4 5 6 7 8 9
Optical Resistance Distal
Articulation zooming Automatic to tip Speed of Cost of Working
Needs no. range capability Stability mechanism deformation diameter insertion prototype length
1 Wide X
viewing
angle
2 High X
steerability
3 Clear images X X
4 User-friendly X X X
5 Safe for X
prolonged
usage
6 Home-based X X
7 Subject self- X
administered
8 Comfortable X X
9 Affordable X