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. Author manuscript; available in PMC: 2021 Jun 1.
Published in final edited form as: IEEE ASME Trans Mechatron. 2020 Feb 27;25(3):1432–1443. doi: 10.1109/tmech.2020.2976897

Fig. 12:

Fig. 12:

(a) The cyst is perforated by grabbing the membrane and pulling/twisting. (b) The left and right arm provide tension to open the cyst. (c) The cyst is poked with the aspiration tube until it is debulked. (d) The right arm is used to move the cyst off of the floor so that the left arm can aspirate the cyst contents beneath it. (e) The entire endoscope is moved substantially (see Fig. 10 - Top, and notice the shifted endoscopic view) so that the forceps can grasp the string. (f) The right arm moves the cyst towards the left arm which reaches to touch the string.