Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery

<table>First step of result optimization. The percentage of free visual field was plotted against the minimal distance to environment (inversely related to risk of collision). Each cross represents a set of parameters which passed the overall evaluation (<svg height="11.0375" id="M95" style="vertical-align:-0.17555pt" version="1.1" viewbox="0 0 58.537498 11.0375" width="58.537498" xmlns="http://www.w3.org/2000/svg">
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<text transform="matrix(1,0,0,-1,-71.95,63.4)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑛</tspan>
<tspan style="font-size: 12.50px; " x="9.6773224" y="0">=</tspan>
<tspan style="font-size: 12.50px; " x="21.71771" y="0">4</tspan>
<tspan style="font-size: 12.50px; " x="27.969212" y="0">0</tspan>
<tspan style="font-size: 12.50px; " x="34.220711" y="0">6</tspan>
<tspan style="font-size: 12.50px; " x="40.47221" y="0">3</tspan>
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</g>
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</svg>). Pareto’s front (in red) identified 11 candidates.</table>

The Scientific World Journal

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Figure 17

Figure 17: Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery 