Skip to main content

Table 1 Major specifications of the manipulators

From: Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization

Positioning accuracy in ultrasound image

Positioning accuracy in free-space

Size

Weight

~ 1 [mm]

~ 0.1 [mm]

≒100 × 180 × 60 [mm]

≒ 700 [g]

  1. These data summarize the data in this paper, which were substantiated in an earlier article [15].