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