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Robotic System Specifications.
| Number | Item | Specifications |
|---|---|---|
| 1 | DOFs | 4 DOFs are required including 2 translational motions and 2 rotary motions. |
| 2 | Range of motion | Translational, X: ± 30 mm, Y: ± 50 mm. Rotary motion: RX: ± 30°, RY: ± 30°. |
| 3 | Position Accuracy | < 1 mm. (Needle tip in free space) |
| 4 | Overall size | Within mm3. |
| 5 | MRI compatibility | MR conditional. |
