We have developed a concentric tube robotic platform that is passed through a standard endoscope that is capable of producing complex movements of the end effectors. We have shown that these movements of the concentric tube manipulators are capable of performing tasks that may eventually translate into improved ease of performing HoLEP.

areas of the chest (62% vs 26%). In well-penetrated areas, there was a decrease in detection rates (52% vs 44%) using TWL images despite measured improvements in image contrast in these areas. Possibly this was due to the observers' unfamiliarity with the reversed-contrast TWL images. Our results show the TWL technique to be valuable for improving image quality and diagnostic accuracy in chest radiography.