The movement permitted includes linear and rotational movement in {HEAD ~ up to six degrees} of {TAIL ~ freedom} depending on the configuration of the invention used 
of
The movement permitted includes linear and rotational movement in { HEAD ~ up to six degrees } of { TAIL ~ freedom } depending on the configuration of the invention used
OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH