**3.4 K-Flex**

Korea Advanced Institute of Science and Technology (KAIST), South Korea has been developing K-Flex [45]. Two 3.7-mm articulating instruments and an endoscope are in a flexible sheath. The sheath has wire driven bending section at the end. This bending section has two independently controllable bending parts, so that view angle can be changed. They established a spin-off company, EasyEndo Surgical Inc., to commercialize this system.
