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Design Specifications of the IRIS System
| Dimension | Diameter | ≤ 0.9 mm |
| Length | ≤ 10 mm | |
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| Performance | Degree of freedom | 2-DOF rotation |
| Range of motion | each DOF ±45° | |
| Payload | 30 mN | |
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| Additional requirements | Inner lumen: as a working channel | |
| Compatiblity: can be incorperated with the Steady-Hand Eye Robot | ||
