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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. 3.

Fig. 3.

The steerable drilling system. This system includes two main parts: (i) the ortho-snake and its actuation unit, which controls the bending direction and bending plane of the CM; (ii) the flexible drilling tool integrated within the ortho-snake and its actuation mechanism.