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RISNovel Design and Performance Analysis of 1R1T Remote Center-of-Motion Mechanisms With Partially Decoupled T- and R-Motions
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Remote center-of-motion (RCM) mechanisms provide a way for surgical instruments to pass through a remote center (e.g., skin incision) under geometrical constraints, facilitating safer operations in minimally invasive surgery ...