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

Table 2

Parameter values for 11 candidates selected by the Pareto’s front.

Sol. no.	𝛼4 (°)	L5 (mm)	𝛼5 (°)	𝛼6 (°)	d7 (mm)	L6 (mm)	Vision score 𝑆𝑣 (%)	Distance; score 𝑆𝑜 (mm)
1	30	140	60	50	5	180	93,511	5,995
2	50	140	50	50	5	180	93,376	6,247
3	40	140	40	50	5	180	93,327	7,526
4	40	140	55	45	5	180	92,955	21,29
5	50	140	45	45	5	180	92,941	21,747
6	50	140	40	45	5	180	92,752	24,442
7	35	140	55	40	5	180	91,861	33,785
8	50	140	40	40	5	180	91,748	33,788
9	55	140	40	40	5	180	91,741	36,087
10	35	140	55	35	5	180	89,964	46,21
11	55	140	35	35	5	180	89,841	47,913