. Author manuscript; available in PMC: 2026 Apr 25.

Published in final edited form as: J Med Robot Res. 2025 Apr 25;10(1-2):2450005. doi: 10.1142/s2424905x24500053

Table I.

Selected Tube Dimensions

	OD (mm)	ID (mm)	Arm 1	Arm 2
Tube 1	3.3	3.04	✔
Tube 2	2.84	2.62	✔	✔
Tube 3	2.42	2.24	✔	✔
Tube 4	2.04	1.88	✔	✔
Tube 5	1.68	1.54		✔

✔: tube is a member of the outer pair.