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RISDesign and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Minimally invasive surgery (MIS) requires four degrees-of-freedom (DOFs) (pitch, translation, yaw, and roll) at the incision point, but the widely used planar remote center of motion (RCM) mechanisms only provide one ...