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

Table 3

Values of the 6 top candidates after the second step of result optimization.

Solution no.	𝛼4	𝛼5	𝛼6	Visual score	Distance score
110	32°	58°	33°	88.691%	52.6 mm
109	31°	59°	33°	88.696%	52.4 mm
108	30°	60°	33°	88.701%	52.04 mm
107	30°	59°	34°	89.29%	50.42 mm
106	31°	59°	34°	89.44%	50.33 mm
105	32°	59°	34°	89.464%	50.23 mm
104	31°	60°	34°	89.467%	49.85 mm