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DCM integrated with a robotic arm for an example application to skull base surgery [4]: (a) DCM attached to a robotic arm; (b) DCM path to the petrous apex through the tympanic bone for skull base surgery; (c) the straight and bent DCM with large lumen. Also shown is the location of compliant joints; (d) lesion (red color) removal using a 2D phantom of a cross section of petrous apex, where DCM is interacting with the boundary of phantom.
