2019
Three-Degrees-of-Freedom Passive Gravity Compensation Mechanism Applicable to Robotic Arm With Remote Center of Motion for Minimally Invasive Surgery
RA-L 2019
For safety enhancement reasons, passive gravity compensation is widely applied in robotic systems used in minimally invasive surgery (MIS). MIS robotic systems have a remote center of motion (RCM) in which a surgical instrument conducts a fulcrum motion around a point of invasion. RCM mechanisms inc