# Design and Development of a Flexible 3D-Printed Endoscopic Grasping Instrument
## 5 Conclusions  
In this study, we demonstrated that the features necessary for a flexible endoscopic grasper can be realized in a 3D-printed prototype, providing adequate bending strength, added steering capabilities, and an endoscope-independent approach to performing complex therapeutic interventions. The presented instrument demonstrated improved maneuverability and flexibility of the distal tip compared to state-of-the-art instruments, while sustaining strength comparable to the combination of a gastroscope and biopsy forceps. Furthermore, its narrow, smooth body allows for the rapid insertion and manipulation of objects and tissue inside the GI tract. Such properties keep the time necessary to perform different interventional tasks minimal. Regardless, further development and assessment of the instrument are necessary before its scalable adoption in daily clinical practice. Conceptualization: B.S., K.-H.F. and A.M.; methodology: B.S. and K.-H.F.; instrument design: B.S. and J.T. ; formal analysis: B.S. and K.-H.F.; data acquisition: B.S. and K.-H.F.; writing--original draft preparation: B.S., J.T. and K.-H.F.; writing--review and editing: B.S., K.-H.F., A.M., J.T., A.H. and A.V. All authors have read and agreed to the published version of the manuscript. Funding: This research received no external funding. Institutional Review Board Statement: Not applicable. Informed Consent Statement: Not applicable. Data Availability Statement: The CAD files, bill of materials, and production instructions are available on the website: [[https://www.ukw.de/research/inexen/code-data-and-3d-models/](https://www.ukw.de/research/inexen/code-data-and-3d-models/)]([https://www.ukw.de/research/inexen/code-data-and-3d-models/](https://www.ukw.de/research/inexen/code-data-and-3d-models/)) (accessed on 2 May 2023). Conflicts of Interest: The authors declare no conflict of interest. References  
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