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A surgical robotic arm with cabled linkage and remote centre of motion

总结: A robotic mechanism to incorporate into a surgical robot with cabled linkage and remote centre of motion. Dual triangular remote centre of motion allows for:
- minimally invasive surgery
- endoscopy and laparoscopy
- multi-arm applications

技术优势: - Mechanism remains separated from operation incision point
- Greater design flexibility with fewer constraints
- Distance of the remote centre from the linkage can easily be increased or decreased
- Smaller footprint over parallelogram-based mechanisms, less collision and larger collision-free workspace
- Up to 35% reduction in planar sweeping area (area enclosed by outer boundary of mechanism)
- Up to 83% reduction in planar swelling area behind input joint (additional space behind input ioint for operation the mechanism
- Up to 80% shorter (lighter) links over parallelogram-based mechanisms

详细技术说明: - Mechanism remains separated from operation incision point
- Output link can be an arbitrary cantilever, allowing more design flexibility with fewer constraints
- Distance of the remote centre from the linkage can be increased or decreased without changing the linkage size
- Smaller footprint over parallelogram-based mechanisms, less collision and larger collision-free workspace
- Up to 35% reduction in planar sweeping area (area enclosed by outer boundary of mechanism)
- Up to 83% reduction in planar swelling area behind input joint (additional space behind input ioint for operation the mechanism
- Up[ to 80% shorter (lighter) links over parallelogram-based mechanisms

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