Robotic manipulators have been widely used in different medical applications, since they simplify and standardize a variety of operations: visual inspection, cutting, and the delivery of solutions [1]. According to the prior research and commercial products, diverse manipulators have been developed based on cable-driven mechanism [2], shape memory alloy (SMA)-based actuators [3], and pneumatically actuated manipulators [4], among others.

As the medical applications differ, the requirements for the manipulators are varied which explain the diversification of those instruments. In this paper, we focus on an endoscopic robot for patient-administered nasopharynx inspection. With the increase of nasopharynx-related diseases, the demand for nasopharynx inspection has been ever growing [5]. Therefore, it is highly desirable to develop an endoscopic device for patients to do the observation by themselves for the sake of prompt disease detection and clinical visit...

References

References
1.
Dogangil
,
G.
,
Davies
,
B. L.
, and
Rodriguez y Baena
,
F.
,
2010
, “
A Review of Medical Robotics for Minimally Invasive Soft Tissue Surgery
,”
Proc. Inst. Mech. Eng., Part H
,
224
(
5
), pp.
653
679
.10.1243/09544119JEIM591
2.
Li
,
Z.
,
Du
,
R.
,
Yu
,
H.
, and
Ren
,
H.
,
2014
, “
Statics Modeling of an Underactuated Wire-Driven Flexible Robot Arm
,”
IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
(
BioRob
), Sao Paulo, Brazil, Aug. 12–15, pp.
326
331
.10.1109/BIOROB.2014.6913797
3.
Giataganas
,
P.
,
Evangeliou
,
N.
,
Koveos
,
Y.
,
Kelasidi
,
E.
, and
Tzes
,
A.
,
2011
, “
Design and Experimental Evaluation of an Innovative SMA-Based Tendon-Driven Redundant Endoscopic Robotic Surgical Tool
,”
19th Mediterranean Conference on Control and Automation
(
MED
), Corfu, Greece, June 20–23, pp.
1071
1075
.10.1109/MED.2011.5983225
4.
Cianchetti
,
M.
,
Ranzani
,
T.
,
Gerboni
,
G.
,
Nanayakkara
,
T.
,
Althoefer
,
K.
, and
Dasgupta
,
P.
,
2014
, “
Soft Robotics Technologies to Address Shortcomings in Today's Minimally Invasive Surgery: The STIFF-FLOP Approach
,”
Soft Rob.
,
1
(
2
), pp.
122
131
.10.1089/soro.2014.0001
5.
Ren
,
H.
,
Lim
,
C. M.
,
Tan
,
J. S. Y.
,
Wang
,
J. X.
,
Lin
,
M.
,
Mak
,
V. W.-L.
, and
Manogaran
,
D.
,
2014
, “
An Anchoring and Steering Device for Wireless In Vivo Surveillance of Nasopharyngeal Carcinoma
,”
ASME J. Med. Devices
,
8
(
3
), p.
030947
.10.1115/1.4027134
6.
Sun
,
Y.
,
Song
,
Y. S.
, and
Paik
,
J.
,
2013
, “
Characterization of Silicone Rubber Based Soft Pneumatic Actuators
,”
IEEE/RSJ International Conference on Intelligent Robots and Systems
(
IROS
), Tokyo, Nov. 3–7, pp.
4446
4453
.10.1109/IROS.2013.6696995
You do not currently have access to this content.