Skip to main content
. Author manuscript; available in PMC: 2018 Feb 14.
Published in final edited form as: IEEE Robot Autom Lett. 2017 Feb 14;2(3):1488–1494. doi: 10.1109/LRA.2017.2668468

TABLE I.

Endoscope Curvature Requirements and Corresponding Percent Visualization of the Sinus Tympani

Patient No. Curved Section Length (mm) Bending Angle θ (°) Visualization (%)
1 15.57 52.0 71.6
2 11.33 47.8 85.7
3 13.48 54.0 72.1
4 13.47 59.8 72.9
5 12.90 52.8 62.5
6 13.17 74.8 59.1