The catheter is also designed so that the sensor is situated in a side port a few mm from the end of the probe, and not at its very tip, to minimise any potential trauma or artifact during placement.
The WHO CPI probe is specifically designed for this purpose, with a 0.5 mm ball tip (to minimise penetration of the probe into the soft tissues and also to help in the detection of calculus), a black band between 3.5 and 5.5 mm, and rings at 8.5 and 11.5 mm.
The BC screws had a longer non-threaded tip in order to minimise diversity and provide a standardised, reproducible placement.
Electrode tips were coated with beeswax to minimise stray capacitance before filling with 3M KCl or CsCl.
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The tip was discarded and replaced for each sample to minimise sample carry-over.
The probe was inserted through a small superficial incision in the skin, pushed a few millimetres into the tumour and then slightly withdrawn to minimise the pressure of the tip of the probe on the surrounding tissue.
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The control algorithm also applies orientation constraints preventing the tip from orienting around the instrument axis due to the robot movements as well as a minimum displacement constraint to minimise the movements of the parallel micropositioning robot.
