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Table 1 Specifications of the wrist mechanism

From: Simple noninterference mechanism between the pitch and yaw axes for a wrist mechanism to be employed in robot-assisted laparoscopic surgery

Items

Specification

 Size

 Maximum diameter

\(\upphi\)7.5 mm

 Offset from pitch axis to yaw axis

6.95 mm

 Offset from yaw axis to gripper axis

0 mm

 Radius from gripper axis to tip

17.5 mm

 Gripper face length

14.3 mm

Range of motion

 Radius of arc-shape guide

1.5 + (0.45/2) mm

 Rotation radius of wire tip around pitch axis

9.45 + (0.45/2) mm

 Pitch

± 90°