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The robot\u2019s small diameter, approximately 3 mm, allows for robot navigation through narrow cavities, such as nasal passages and the densely packed anatomy of the skull base. By filling the robot with deionized water, the MRI contrast of the robot can be improved, therefore enabling intra-operative tracking of the robot\u2019s movement. In this paper, we present the design and fabrication process of the robotic system, kinematic analysis of the robot, and experimental studies to validate our model, characterize the robot, and test the feedback robot control. 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