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. 2020 Sep 28;12(10):2775. doi: 10.3390/cancers12102775

Figure 2.

Figure 2

Research (non-commercialized) robotic gastroscopes: HydroJet-like gastroscopes developed by (A) Caprara et al. [47], (B) Campisano et al. [48], and (C) Yin et al. [49]; (D) Pneumatic gastroscope developed by Garbin et al. [50]; (E) Cable driven gastroscope developed by Ye et al. [51]; (F) Gastroscope modified by Swain et al. [52]; Self-driven gastroscopes developed by (G) Tortora et al. [53], and (H) De Falco et al. [54]; (I) Magnetic steering devices developed cooperatively by Olympus Corp. (Tokyo, Japan) and Siemens Healthcare GmbH (Erlangen, Germany) [55].