Special Section Technical Briefs

Soft Transnasal Endoscopic Robot for Patient-Administered Nasopharynx Inspection1

[+] Author and Article Information
Yi Sun

Department of Biomedical Engineering,
National University of Singapore,
119077, Singapore

Hongliang Ren

Department of Biomedical Engineering,
National University of Singapore,
119077, Singapore
e-mail: ren@nus.edu.sg

Accepted and presented at The Design of Medical Devices Conference (DMD2015), April 13-16, 2015, Minneapolis, MN, USA.

2Corresponding author.

Manuscript received March 3, 2015; final manuscript received March 16, 2015; published online April 24, 2015. Editor: Arthur Erdman.

J. Med. Devices 9(2), 020930 (Jun 01, 2015) (2 pages) Paper No: MED-15-1123; doi: 10.1115/1.4030141 History: Received March 03, 2015; Revised March 16, 2015; Online April 24, 2015

First Page Preview

View Large
First page PDF preview
Copyright © 2015 by ASME
Your Session has timed out. Please sign back in to continue.


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. [CrossRef]
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. [CrossRef]
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. [CrossRef]
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. [CrossRef]
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. [CrossRef]
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. [CrossRef]


Grahic Jump Location
Fig. 2

Mold design for STER fabrication. (a) Mold for STER fabrication. (b) Pins for air channel. (c) Pin position. (d) Robot body cured on the mold. (e) Robot body with winded thread.

Grahic Jump Location
Fig. 3

STER prototype and its cadaver experiment



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In