According to {TAIL ~ a first embodiment} of the invention, the flexible lubricous sheath 115 is provided with {HEAD ~ a palpable texture} 150 which is located a defined distance from the end effector assembly 114 
According to { TAIL ~ a first embodiment } of the invention , the flexible lubricous sheath 115 is provided with { HEAD ~ a palpable texture } 150 which is located a defined distance from the end effector assembly 114
OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH