. Author manuscript; available in PMC: 2014 Aug 1.

Published in final edited form as: IEEE ASME Trans Mechatron. 2013 Jun 19;19(3):996–1006. doi: 10.1109/TMECH.2013.2265804

Table II. Component Tube Parameters for Experimental Evaluation. All Values in mm, κ in (mm⁻¹).

Cannula

Gripper

Curette

Tube

Outer

middle

inner

outer

middle

inner

L_{i}^{s}

82.4

241.1

417.6

94.6

241.4

435.6

L_{i}^{c}

68.6

69.9

38.4

53.4

54.6

39.4

0.0032

0.0059

0.0128

0.0035

0.0068

0.0174

2.32

1.68

1.16

2.32

1.68

1.17

1.87

1.35

0.76

1.87

1.35

0.76

Table II. Component Tube Parameters for Experimental Evaluation. All Values in mm, κ in (mm−1).