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

Table 1

Exploration area of the parameters.

	𝛼4	L5	𝛼5	𝛼6	d7	L6
Min. values	25°	90 mm	25°	15°	5 mm	130 mm
Max. values	60°	140 mm	60°	60°	30 mm	180 mm
Pitch	5°	10 mm	5°	5°	5 mm	10 mm