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Keywords: remote center-of-motion
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Journal Articles
Journal:
Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2016, 8(1): 015001.
Paper No: JMR-14-1035
Published Online: August 18, 2015
... of the holder. Due to its special geometry, the mechanism possesses several interesting kinematic properties. First, the laparoscope, which is held by the end-effector, can illustrate a remote center-of-motion (RCM) kinematics at the surgical incision point. Second, the position of the RCM point is solely...
