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. Author manuscript; available in PMC: 2020 Sep 25.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2019 Jan 28;1(1):14–21. doi: 10.1109/tmrb.2019.2895780

Fig. 2.

Fig. 2.

(a) Ortho-snake (outer diameter =6 mm) with the flexible end-mill cutting tool passed through its 4 mm instrument channel; (b) ball-end carbide end mill with a shaft diameter of 7 mm, two flutes and helixangle of 30 degree; (c) ortho-snake with outer diameter =6mm and instrument channel = 4 mm; (d) Fiber Bragg Grating (FBG) optical sensor assembly inserted into the 0.6 mm channels of ortho-snake.