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

Figure 22

Second step of result optimization: linear parameters 𝐿5, 𝐿6, and 𝑑7 were set at 140, 180, and 5 mm, respectively, and angular parameters 𝛼4, 𝛼5, and 𝛼6 varied in the range of 15 to 60° with a 1° pitch. 9347 candidates meeting all the criteria are plotted. The red-dotted line represents Pareto’s front and includes 110 candidates. Pareto’s front for the previous step is depicted in green.