... the corresponding author upon reasonable request. Equation Symbols f c = the minimal required friction J T = the robot's transposed Jacobian matrix K = the required rigidity P 1 = the general friction amplitude P 2 = the friction's hyperbolic tangent...

..., the needle is released and allowed to oscillate within a defined region so as to minimize tissue laceration due to the patient breathing. Compared to many other small robots intended for medical applications, Robopsy is an order of magnitude less costly and lighter while offering appropriate functionality...