. Author manuscript; available in PMC: 2021 Feb 1.
Published in final edited form as: IEEE Trans Biomed Eng. 2019 Apr 29;67(2):379–390. doi: 10.1109/TBME.2019.2913752
Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publicationsstandards/publications/rights/index.html for more information.
Fig. 6.
Continuum robot for a combined ETV/ETB procedure