a) inserting the end effector into the mouth of {TAIL ~ a patient} and translating the end effector to the esophagus or the stomach of {HEAD ~ the patient} 
a ) inserting the end effector into the mouth of { TAIL ~ a patient } and translating the end effector to the esophagus or the stomach of { HEAD ~ the patient }
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD