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Main parameters of the proposed robotic system.
| Parameters | Value | Units |
|---|---|---|
| DOF | 3 | – |
| Diameter of the end effector | 3.3 | mm |
| Diameter of the tool channel | 1.4 | mm |
| Length of insertion part | 700 | mm |
| Maximum bending angle | 150 | degrees |
| Maximum rotation angle | 360 | degrees |
| Operating mode | Master-slave teleoperation | – |
