Page 79 - Flexible Robotics in Medicine

Cable-driven flexible endoscope utilizing diamond-shaped perforations: FlexDiamond 63
Table 3.11: Comparison of FlexDiamond with other prototypes based on satisfaction
benchmarking.

Target specification

Metric Needs Importance Marginal
no. no. Metric (1 5) Units value Ideal value
1 1 Articulation range 1 Degrees 6 90 6 135

2 2, 3 Optical zooming 1 Yes/No Yes Yes
capability
3 3 Stability 1 Yes/No Yes Yes
4 4, 7 Automatic 2 Manual/semi/ Manual Semi/full
mechanism full

5 5 Resistance to 2 Yes/No Yes Yes
deformation
6 8 Distal tip diameter 3 mm 7.0 3.0 4.0
7 4, 8 Speed of insertion 3 Fast/slow Slow Fast
8 6, 9 Cost of prototype 4 Low ($350) Very low
($ , 350)
9 4, 6 Working length 5 mm 300 300

These commercially available prototypes have an ultra-slim distal tip diameter to minimize
subject discomfort and to provide smooth insertion. In addition, diameters of 2.6 mm
(Olympus, 2014) and 3.1 mm for Olympus and Pentax (Pentax Medical, 2011)
endoscopes, respectively, enable the assessment to be performed on children more
efficiently than conventional endoscopes. The three endoscopes for comparisons are all
flexible endoscopes, enabling a deflection of at least 130 degrees up/down. This provides
a large viewing angle so that users can easily observe the area of interest. The interface of
these prototypes is ergonomically designed for easy operability by users. Users can
efficiently operate the prototype with a single hand and, at the same time, allow fast
insertion of the prototype.
Despite having certain desirable features, these prototypes require extensive setup and are
only available for use in clinical settings. This eliminates the prospect of constant home
monitoring, which is required for more genetically susceptible subjects and subjects with
recurring NPC. The prototype is able to provide an additional DOF by enabling movement
in the z-axis with the shooting mechanism (which will be discussed further in other reports).
This mechanism enables optical zooming, which gives a better focus to the camera and
allows the mediation of obstacles. FlexDiamond strives to use the new factors of optical
zoom, self-administered, and home-based kit to distinguish itself from the others based on