Page 89 - Flexible Robotics in Medicine

Cable-driven flexible endoscope utilizing diamond-shaped perforations: FlexDiamond 73
Table 3.18: US6458075 patent analysis.

US6458075: Endoscopic flexible tube
Two adjacent layers in the multilayered structure portion of the jacket are integrally combined via an
area that comprises a mixture of the constituent materials of the two layers.

S. no. Key features Comments to relevance
1 An endoscopic flexible tube comprising a helical Similar to US6520214, the windings are of a
tube formed of a strip wound in turns of a coil strip. Further, there is a requirement for a
that are spaced by gaps in the pitch direction, a braided tube. The conferring advantage of a
reticulate tube that is covered on the surface of jacket of a multilayered structure that is
said helical tube and which is formed of adequately protected against the separation of
reticulated braided bundles of wires, and a overlying layers is starkly different from the
flexible jacket that is coated on the outer surface focus on the bending mechanism.
of said reticulate tube and at least part of which
has a multilayered structure comprising a
plurality of superposed layer

Table 3.19: US 20020032368 A1 patent analysis.
US 20020032368: A1 flexible endoscope
Abstract: The endoscope comprises a flexible insertion member with different hardness for bending in a
predetermined area of longitudinal direction thereof.

S. no. Key features Comments to relevance
1 An amount of change in hardness level for This pertains to element (c) of the prototype
bending of the inner parts in a longitudinal having rigidity higher than the inner tube (a) and
direction is designed to be larger than an (b). However, this patent is varying the hardness
amount of change in hardness level for bending along the longitudinal direction, whereas the
of the sheathing layer of the flexible tube in a element (c) is of constant flexibility along the
longitudinal direction. longitudinal axis.
2 Maintain the ability to insert the endoscope The prototype does not incorporate the
smoothly for extended periods of time, even sheathing layer.
after the sheathing layer has deteriorated or
become altered.

prototypes at 130 140 degrees. Hence, if given more time and resources, we will be using
medical-grade polyurethane (PU) as the material in the fabrication process. Using medical-
grade PU will not only resolve biocompatibility issues due to its excellent biocompatibility
and nontoxicological properties, but it is also more robust and more wear-resistant material.
Hence this can increase the stability and durability of the prototype. Furthermore, as the
current distal tip diameter is restricted due to material and fabrication limitations, changing to
a stronger material can allow us to decrease the tip diameter to a comfortable value of below
4 mm. This provides greater comfort to the user, which is one of the needs specified in the