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. Author manuscript; available in PMC: 2015 May 12.
Published in final edited form as: IEEE Trans Biomed Eng. 2015 Apr;62(4):1077–1088. doi: 10.1109/TBME.2014.2367233

TABLE I.

Joint Space Kinematic Specifications of The Robot

Axis Motion Robot
1 x ± 35mm
2 y ± 35mm
3 z ± 35mm
4 Sagittal plane angle 0–90°
5 Transverse plane angle ±45°
6 Needle insertion 0–75mm