Type Synthesis of N -Parallelogram-Based Surgical Arm with Remote Actuated Configuration

Two remote actuated one rotational and one translational degree of freedom (1R1T DOF) surgical mechanisms are synthesized based on N-parallelogram linkages. The remote actuation of surgical arm keeps the bulky driving members away and saves the space. The surgical arms are also magnetic resonance imaging (MRI)-compatible in terms of noise reduction and space saving, since open MRI has narrow opening. The synthesis processes are implemented by combining the remote center motion (RCM) mechanism with the remote actuate 1R1T mechanisms. The N-parallelogram linkages play a key role in the synthesis of the novel remote actuate 1R1T mechanisms.

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