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Table 2 Characteristics of the developed actuation system

From: A concentric tube-based 4-DOF puncturing needle with a novel miniaturized actuation system for vitrectomy

Characteristics Value
No. of actuators 4
Degrees of freedom 4
Modules 2
Size (L × W × H) (mm) 148 × 25 × 65
Available stroke (mm) ~ 100