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Magnetic anchored and steered endoscope. (A) Schematics of endoscope design; (B) endoscope prototype, with transparent capsule revealing inner components; (C,D) set-up for evaluation in porcine cadaver. EPMs controller shown in (C), and eye-tracker with display screen in (D); (E,F,G) endoscope actuation inside cadaver, including translation (E), tilting (F), and panning (G), as observed by standard laparoscope.
