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| Degree of freedom | Motion | Requirements | |
|---|---|---|---|
| 1) | Gross Axial Position | 1m | Manual with repeatable stop |
| 2) | Vertical Motion | 0-100mm | Precise servo control |
| 3) | Elevation Angle | +15°, −0° | Precise servo control |
| 4) | Horizontal Motion | ±50mm | Precise servo control |
| 5) | Azimuth Angle | ±15° | Precise servo control |
| 6) | Needle Insertion | 150mm | Manual or Automated |
| 7) | Canula Retraction or Biopsy Gun Firing | 60mm | Manual or Automated |
| 8) | Needle Rotation | 360° | Manual or Automated |
