Minimally-Invasive Surgical Robot with Remote Centre of Motion

Chapter 21 presents a novel remote centre of motion mechanism designed for minimally invasive surgery. Two design variants are discussed, which are hybrid mechanisms of gear-linkage and cable-linkage, respectively. Mathematical proofs on the remote centre of motion property are provided, followed by a case study to demonstrate the mechanism's advantage in terms of footprint minimisation compared to the commonly used parallelogram-based designs.