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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