In one application, the end effector is insertable into {HEAD ~ the esophagus} of {TAIL ~ a patient} 
of
In one application , the end effector is insertable into { HEAD ~ the esophagus } of { TAIL ~ a patient }
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL