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(a) Our original concept for a three-armed robot with three Distal Dexterity Units (DDU’s) included two robot arms for manipulation and a third arm for controllable suction, (b) A rigid instrument passing through a laryngoscope is afforded only two unconstrained DoF out of the four DoF of rigid tools in MIS. (c) Cross sectional dimensions of a typical laryngoscope, (d) A semi-circular needle held by a needle driver.
