English: This picture shows a prototype of a snake-like robot for endoscopic surgery: The i²Snake. Minimally invasive surgery is a surgical technique that aims to improve patient recovery by using small incisions as opposed to more invasive traditional approaches. Endoscopic surgery takes this concept further by using natural orifices to enter the patient anatomy. In this context, the i²Snake robot [1] is a prototype of an endoscopic robot that can navigate through the mouth and reach deep-seated lesions to perform surgery from the inside. The i²Snake robot consists of a robotic articulated body and is equipped with a camera, light, two miniature robotic arms and a suction/irrigation channel allowing the surgeon to perform surgery remotely. [1] P. Berthet-Rayne, G. Gras, K. Leibrandt, P. Wisanuvej, A. Schmitz, C. A. Seneci, and G.-Z. Yang, “The i2snake robotic platform for endoscopic surgery.” Annals of Biomedical Engineering, 2018.