Design and evaluation of a prototype medical device for robotic and manual percutaneous dilatational tracheostomy
Fig 5
Results and data distributions of simulated TrachyPen CBR dilation on porcine back skins.
(A) Sample thickness of Ciaglia Blue Rhino and TrachyPen groups. (B) Stoma length of Ciaglia Blue Rhino and TrachyPen groups. (C) Insertion force peak of Ciaglia Blue Rhino, TrachyPen and blunt dilator. (D) Motor output during TrachyPen dilation.