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A rendering of (a) the actuation system for the robotic endoscope and grasping including the translational and rotational degrees-of-freedom along with those provided by the tool (a)(inset), (b) the internals of the actuation assembly showing each of the lead screw assemblies for tendon actuation and (b)(inset) the pulleys and holes used for routing the tendons. A picture (c) of the finalized actuation system.
