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Robotic catheter component dimensions and joint capabilities.
| Proximal torsion module | Bending ring | Prismatic quad lumen tube | Distal torsion module | ||||
|---|---|---|---|---|---|---|---|
| r | 2.85 mm | t | 0.52 mm | OD | 1.68 mm | r | 2.85 mm |
| h | 2.5 mm | n | 10 | Lumen ID | 0.51 mm | h | 2 mm |
| a t | 120° | a b | 1.8 mm | Hardness | 72D | a t | 120° |
| length (TM) | 15mm | length | 2.04 mm | PE OD | 0.12 mm | length (TM) | 4.5 mm |
| length (BM) | 5mm | ID | 1.9 mm | length (BM) | 6 mm | ||
| Proximal torsion | ±75° | Bending | ±120° | Translation | 5-6 cm | Distal torsion | ±75° |
