Optimal Design of a Novel Spherical Scissor Linkage Remote Center of Motion Mechanism for Medical Robotics
Mehrnoosh Afshar,Jay Carriere,Tyler Meyer,Ron Sloboda,Siraj Husain,Nawaid Usmani,Mahdi Tavakoli,Mehrnoosh Afshar,Jay Carriere,Tyler Meyer,Ron Sloboda,Siraj Husain,Nawaid Usmani,Mahdi Tavakoli
In this paper, a new remote center of motion (RCM) mechanism is presented whose end-effector is able to move through an entire hemisphere. In general, minimally invasive surgery (MIS) applications, an elliptic cone workspace with vertex angles of 60° and 90° gives the surgeon enough freedom to operate. Therefore, the majority of the developed RCM mechanisms have such a cone as the workspace. Howev...
