This paper investigates the use of a soft and flexible manipulator with diamond cuts, with an eventual goal to develop home-based nasopharyngeal carcinoma surveillance system. The state-of-the-art sees a wide variation in methods of flexible manipulators [1]. Presently, there are few implementations where the endoscope is patient operated. Our device focuses in the domain of soft robotic manipulators, which confers increased biomimetic characteristics and safety [2] so that it can be implemented for home-based nasopharyngeal explorations. The primary contribution is the design of a cable-driven multisegment flexible steering mechanism with the diamond cuts on flexible segments, allowing greater control in its flexibility for bending and provides an additional degree of contraction motion in the axial direction.

The key features of a home-based transnasal monitoring system should possess advantages in flexibility, safety, comfort, and maneuverability. The preliminary design is shown in Fig....

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