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Keywords: inverse kinematicsClose
Journal: Journal of Medical Devices
Article Type: Research Papers
J. Med. Devices. June 2008, 2(2): 021003.
Published Online: May 14, 2008
... with four degrees of freedom (DOFs) (three rotational DOFs and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics...