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Table 2 List of the components of the wrist mechanism for comparing the proposed and conventional mechanisms

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

Part name

Proposed mechanism

Conventional mechanism [7]

Complex shape parts

 Supporting part

1

1

 Pitch part

1

1

 Right finger part

1

1

 Left finger part

1

1

Simple shape parts

 Supporting shaft

2

3

 Pulley

0

8

 Stainless wire (\(\upphi\) 0.45 mm, 7 × 19)

3

3

Total

9

18