Table 3 Trajectories for kinematics verification with RMSE-values

From: Development of a single port dual arm robotically steerable endoscope for neurosurgical applications

Joints Actuated

x (mm)

y (mm)

z (mm)

Tip position error (mm)

Fig. No.

Minor cannula 1, BAN 83°

0.19

0.46

0.30

0.58

Fig. 5(a-1)

Minor cannula 1, UAN 23°

0.01

0.54

0.17

0.57

Fig. 5(a-2)

Minor cannula 1, BAN 55°, UAN 20°

1.55

0.70

0.49

1.77

Fig. 5(a-3)

Minor cannula 2, BAN 76°

0.23

0.70

0.40

0.84

Fig. 5(a-4)

Minor cannula 2, UAN 28°

0.04

0.55

0.36

0.67

Fig. 5(a-5)

Minor cannula 2, BAN 48°, UAN 18°

0.07

0.19

0.12

0.24

Fig. 5(a-6)

Minor cannula 1, BAN 34°

0.07

0.76

0.07

0.77

Fig. 5(b-1)

Minor cannula 1, UAN 16°

0.06

0.40

0.34

0.53

Fig. 5(b-2)

Minor cannula 1, BAN 48°, UAN 21°

0.17

0.87

1.4

1.66

Fig. 5(b-3)

Minor cannula 2, BAN 57°

0.15

0.61

0.25

0.68

Fig. 5(b-4)

Minor cannula 2, UAN 13°

0.05

0.51

0.66

0.84

Fig. 5(b-5)

Minor cannula 2, BAN 47°, UAN 10°

0.19

0.50

0.41

0.67

Fig. 5(b-6)

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