TABLE I:

Comparison of relevant grasper literature

Author	Year	Outer Diameter	Actuation Method	Structure Type	Intended Tool Structure
Brumfiel et al. [17]	2022	1.69 mm	Tendon Driven	Rigid	Steerable
Arata et al. [13]	2019	3 mm	Push/pull Springs	Compliant	Rigid
Craker et al. [15]	2020	3 mm	SMA Springs	Compliant	Rigid
Hong et al. [10]	2012	> 3 mm	Tendon Driven	Compliant	Rigid
Lim et al. [14]	2021	3.2 mm	Magnetically Actuated	Compliant	Rigid
Forbrigger et al. [11]	2019	4 mm	Magnetically Actuated	Compliant	Not Specified
Aguirre et al. [8]	2015	5 mm	Push/pull rods	Compliant	Rigid
Jovanova et al. [9]	2018	5 mm	Push/pull rod	Compliant	Not Specified
Huan et al. [18]	2021	10 mm	Push/pull Rods	Rigid	Rigid
Orekhov et al. [12]	2015	12 mm	Tendon Driven	Rigid	Steerable