Research Article

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

Figure 4

Intracorporeal workspace: schematics of a right human ear in the operating position are represented. The theoretical intracorporeal workspace (hatched surface) was maximized, and a geometrical approximation (cylinder + truncated cone) was obtained (a). Maximal dimensions were estimated based on CT scan data (b).