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ROBOMECH Journal

Table 1 Comparison of axis configurations about offset between axes and the distance of standard working posture from singular configuration

From: Proof of concept for a wrist mechanism for articulated forceps for use in robot-assisted laparoscopic surgery

Items

A:

Pitch and yaw axes

B:

Yaw and roll axes

C:

2 bending axes

Offset between axes

△

〇

×

Distance from singular configuration

〇

×

〇

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