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):030915-030915-2. doi:10.1115/1.4027036 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.

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):030915-030915-2. doi:10.1115/1.4027036 Figure Legend: (a) CAD model of tool design, and (b) prototype of tool

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):030915-030915-2. doi:10.1115/1.4027036 Figure Legend: Multi-backbone bending mechanism with grasper

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):030915-030915-2. doi:10.1115/1.4027036 Figure Legend: Prototype deflecting upward under hand control