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. Author manuscript; available in PMC: 2019 Jun 28.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2018 Oct 11;2018:595–600. doi: 10.1109/BIOROB.2018.8487926

Fig. 7.

Fig. 7.

First row is the results of the curved drilling experiment with 5 N cable pulling tension: (a) registered ortho-snake shape; (b) X-ray image of the integrated ortho-snake and the cutting tool inside the drilled Sawbone sample; and (c) X-ray image of the inserted BMS into the drilled curved tunnel. Second row is the results of the curved drilling experiment with 25 N cable pulling tension: (d) registered ortho-snake shape; (e) X-ray image of the integrated ortho-snake and the cutting tool inside the drilled Sawbone sample; and (f) X-ray image of the inserted BMS into the drilled curved tunnel.