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. 2018 Jun 11;46(10):1663–1675. doi: 10.1007/s10439-018-2066-y

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© Biomedical Engineering Society 2018

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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The instruments of the $i^{2} S n a k e$ . (a) Instruments with grippers deployed from the head of the $i^{2} S n a k e$ . (b) One of the links from which the instruments are build.