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. Author manuscript; available in PMC: 2021 Jan 1.
Published in final edited form as: Ann Biomed Eng. 2019 Jul 24;48(1):181–191. doi: 10.1007/s10439-019-02325-x

Figure 1:

Figure 1:

Needle-sized robotic manipulators enabled by pre-curved, concentric tubes: (a) functional principle, showing the degrees-of-freedom offered by each tube, (b) concentric tube manipulator shown next to daVinci ProGrasp™ laparoscopic forceps for scale.