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. Author manuscript; available in PMC: 2016 Feb 3.

Published in final edited form as: IEEE Trans Robot. 2015 Jan 23;31(1):67–84. doi: 10.1109/TRO.2014.2378431

TABLE VI.

Robot Design Parameters for PFO Closure

Manipulation Sections
Section type [Algorithm]	1/k_i [mm]	Φ_i [mm]	L_i [mm]^*
variable curvature	75	28	28
fixed curvature	22	28	56
Section type [Experiment]	1/k_i [mm]	Φ_i [mm]	L_i [mm]^*
variable curvature	80	45	45
fixed curvature	24	35	80
Navigation Sections
Section type [Algorithm]	1/k_i[mm]	Φ_i [mm]	L_i [mm]
fixed curvature	436	89	89
fixed curvature	117	109	198
Section type [Experiment]	1/k_i [mm]	Φ_i [mm]	L_i [mm]
fixed curvature	600	170	170

^*

Measured from frame A