1. Design of a Stiff Steerable Grasper for Sinus Surgery1
Date of download: 11/14/2017
Copyright © ASME. All rights reserved.
Design of a Stiff Steerable Grasper for Sinus Surgery1
J. Med. Devices. 2014;8(3): doi: /
Figure Legend:
Placement of an endoscope and a traditional rigid grasper tool during endonasal surgery. One hand (not pictured) holds the endoscope, while the other (pictured) holds the rigid grasper.

2. Design of a Stiff Steerable Grasper for Sinus Surgery1
Date of download: 11/14/2017
Copyright © ASME. All rights reserved.
Design of a Stiff Steerable Grasper for Sinus Surgery1
J. Med. Devices. 2014;8(3): doi: /
Figure Legend:
(a) CAD model of tool design, and (b) prototype of tool

3. Design of a Stiff Steerable Grasper for Sinus Surgery1
Date of download: 11/14/2017
Copyright © ASME. All rights reserved.
Design of a Stiff Steerable Grasper for Sinus Surgery1
J. Med. Devices. 2014;8(3): doi: /
Figure Legend:
Multi-backbone bending mechanism with grasper

4. Design of a Stiff Steerable Grasper for Sinus Surgery1
Date of download: 11/14/2017
Copyright © ASME. All rights reserved.
Design of a Stiff Steerable Grasper for Sinus Surgery1
J. Med. Devices. 2014;8(3): doi: /
Figure Legend:
Prototype deflecting upward under hand control