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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. 2:

Fig. 2:

Our compact robotic system delivers two concentric tube manipulators through the port in a standard clinical neuroendoscope, providing dexterity at the surgical site.