TABLE 3.

An overview of the design requirements and their results.

#	Design requirements	Goal	Result [median (range)]
1	Instrument is detachable from driver	All shafts and end-effector	All shafts and end-effector are detachable
2	MI is detachable from MU	Remove IM from the sterile site	IM is removable and separated by the SBI
3	Adaptive instrument clutching	Shaft size of 3–5 mm	The SKC’s can clutch 7 mm diameter and 5 mm instruments
4	Low instrument exchange time	15 s	IM exchange possible in 11.0 (6.3–14.6) seconds
5	No arm reorientation required	Independent from arm	IM exchange is independent from arm
6	Instant instrument control	2 s	IM and sensors operational in 0.98 (0.07–2.38) seconds
7	Precise instrument control	0.5° accuracy and 50 ms latency	0.152° articulation and 25 ms latency
8	Focus on cost reduction	Production price of 200€	Efficient design cost less than 200€ to produce
9	Reusable system through cleanability	Internal surfaces exposable	All internal surfaces of IN, IM and SBI are exposable
10	Low weight	500 g or less	Total system at 550 g, IM at 350 g