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. Author manuscript; available in PMC: 2012 May 9.
Published in final edited form as: IEEE Int Conf Robot Autom. 2011 May 9;2011:411–416. doi: 10.1109/ICRA.2011.5980215

Fig. 4.

Fig. 4

Tissue approximation device. Wings expand to push against tissue. Ratcheting mechanism enables clinician to adjust distance between wing pairs.