Research Article

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

Figure 3

Extracorporeal space assessment (dimensions in mm). Gray surfaces represent possible positions of the robot base. Green surfaces represent the field of vision. The 360° revolution of the planar model (a) led to a 3D model of the extracorporeal space (b) around which the robot and the microscope could be placed freely.