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Using a Kinect 2.0 to simulate depth sensing, work on a larger-than-scale first prototype of what controlled depth sensing in an endoscope (and related medical equipment) should look like, including a software layer that determines best approximations of obstructions. A foam cut-out mockup of an endoscopic case study will need to be made to trial this. A number of medical data opportunities for using depth sensing should be investigated. The second part will look at building a first small prototype robotic endoscope that is controllable both by a surgeon, and automated by software.