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. Author manuscript; available in PMC: 2024 Nov 1.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2023 Sep 14;5(4):1105–1109. doi: 10.1109/tmrb.2023.3315476

Fig. 1:

Fig. 1:

Schematic showing (a) the steerable robotic assembly with routing blocks (a)(left inset) and the internal workings of the grasper assembly (a)(right inset). A picture of (b) the grasper assembly prior to placement in the joint and (c) the final steerable robotic endoscope with (c)(inset) a zoom in of the grasper’s spring mechanism.