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Our wrist can be outfitted with various surgical tools. (a) A curette is attached to the end of the wrist and is affixed to a wire that runs the length of the tube, allowing for rotation of the curette. (b) A gripper is shown attached to the wrist. Note that this gripper was modified from a commercial biopsy tool and is unactuated, but is shown here for illustrative purposes. (c) A laser fiber is deployed through the wrist, illustrating the use of the wrist to aim a laser.
