Table 2.
The most important parameters of the endoscope manipulator.
| Parameter | Value | |
|---|---|---|
| Mass | Manipulator | 625 g |
| Endoscope and camera | 300–500 g typical | |
| Backdrivability | Torque | 0.45 Nm |
| Force on endoscope tip | 1.5 N | |
| Dimensions | Height | 75 mm |
| Diameter | 110 mm | |
| Motion range | Azimuth rotation | 360° continuous |
| Inclination | 80° from vertical | |
| Extension | 160 mm | |
| Maximum speed | Azimuth rotation | 20° per second |
| Inclination | 20° per second | |
| Extension | 25 mm per second | |
| Maximum torque Limit | 6 Nm | |
| Maximum force | 20 N | |
| Actuation hysteresis | 0.38° maximum |