Skip to main content
. Author manuscript; available in PMC: 2012 Apr 1.
Published in final edited form as: Robot Comput Integr Manuf. 2011 Apr 1;27(2):249–256. doi: 10.1016/j.rcim.2010.06.006

Figure 4.

Figure 4

A 2-dimensional diagram of the forcep tip is depicted. The optical forcep is a modified traditional endoscopic jaw-type biopsy forcep (A) with a central channel through which fiberoptic probes can be introduced for tissue measurements (B). A photograph of a clinically-usable unit (C), standard biopsy forceps (left), ESS integrated optical forceps (right).