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. Author manuscript; available in PMC: 2024 Aug 16.
Published in final edited form as: IEEE Robot Autom Lett. 2020 Aug 4;5(4):6427–6434. doi: 10.1109/lra.2020.3013900

Fig. 1.

Fig. 1.

Schematic representation of UGI screening procedure using the HydroJet Endoscopic Platform. The user controls movement of the camera via the joystick, along with manual insertion of the catheter.