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FLEX joints.
Notes: (A) FLEX joints should be compacted, leaving one-fist-width spacing between each robotic arm (B) to allow the robotic arms to move in parallel. (C) The instrument carriage tends to clash with the adjacent arm (circle) when the FLEX joints are spaced apart. (D) The robotic arms also clash (circle) when the operative target (solid arrow) lies outside of the FLEX joint alignment (dotted arrows).
