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. Author manuscript; available in PMC: 2013 Jun 6.
Published in final edited form as: Int J Med Robot. 2012 Apr 10;9(1):67–74. doi: 10.1002/rcs.1430

Table 1.

Kinematic and accuracy specifications of the current robot

Range of motion Actuator 80 mm
Global 1 50 mm
Angling 1 9.46 degree
Accuracy Actuator 0.2 mm
Targeting 2 < 0.5 mm
1

due to the complex workspace geometry, ranges are set as a target circle instead of maximum ranges.

2

within the needle insertion range of 150 mm.