Cyborg and Bionic Systems / 2020 / Article / Fig 2

Research Article

Surgical Robot for Intraluminal Access: An Ex Vivo Feasibility Study

Figure 2

Overview of the proposed robotic system for endoscopic submucosal dissection: (a) photograph of the complete system; (b) magnified view of the endoscope driving actuator unit; (c) magnified view of the coupling for the flexible part of the endoscope; (d) magnified view of the endoscope tip.