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