Date of download: 10/5/2017 Copyright © ASME. All rights reserved. From: Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators J. Mechanisms Robotics. 2017;9(3):031013-031013-9. doi:10.1115/1.4035991 Figure Legend: A double-parallelogram RCM mechanism

Date of download: 10/5/2017 Copyright © ASME. All rights reserved. From: Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators J. Mechanisms Robotics. 2017;9(3):031013-031013-9. doi:10.1115/1.4035991 Figure Legend: Required workspace for minimally invasive surgery

Date of download: 10/5/2017 Copyright © ASME. All rights reserved. From: Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators J. Mechanisms Robotics. 2017;9(3):031013-031013-9. doi:10.1115/1.4035991 Figure Legend: Trivial forms of the proposed two DOF RCM mechanism

Date of download: 10/5/2017 Copyright © ASME. All rights reserved. From: Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators J. Mechanisms Robotics. 2017;9(3):031013-031013-9. doi:10.1115/1.4035991 Figure Legend: The proposed two DOF RCM mechanism

Date of download: 10/5/2017 Copyright © ASME. All rights reserved. From: Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators J. Mechanisms Robotics. 2017;9(3):031013-031013-9. doi:10.1115/1.4035991 Figure Legend: A simplified representation of the proposed RCM mechanism

Date of download: 10/5/2017 Copyright © ASME. All rights reserved. From: Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators J. Mechanisms Robotics. 2017;9(3):031013-031013-9. doi:10.1115/1.4035991 Figure Legend: The alignment mechanism to maintain the remote center of motion constraint. A3 is a passive prismatic joint.

Date of download: 10/5/2017 Copyright © ASME. All rights reserved. From: Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators J. Mechanisms Robotics. 2017;9(3):031013-031013-9. doi:10.1115/1.4035991 Figure Legend: Mechanism workspace (light gray) and the required workspace for MIS (dark gray)

Date of download: 10/5/2017 Copyright © ASME. All rights reserved. From: Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators J. Mechanisms Robotics. 2017;9(3):031013-031013-9. doi:10.1115/1.4035991 Figure Legend: Variant forms of the proposed RCM mechanism: (a) offers larger translation DOF with reduced length of l4, (b) inverted alignment mechanism can generate even larger translation with further reduced length of l4

Date of download: 10/5/2017 Copyright © ASME. All rights reserved. From: Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators J. Mechanisms Robotics. 2017;9(3):031013-031013-9. doi:10.1115/1.4035991 Figure Legend: 0)

Date of download: 10/5/2017 Copyright © ASME. All rights reserved. From: Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators J. Mechanisms Robotics. 2017;9(3):031013-031013-9. doi:10.1115/1.4035991 Figure Legend: 1

Date of download: 10/5/2017 Copyright © ASME. All rights reserved. From: Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators J. Mechanisms Robotics. 2017;9(3):031013-031013-9. doi:10.1115/1.4035991 Figure Legend: Effective translation in the simplified representation of the proposed mechanism

Date of download: 10/5/2017 Copyright © ASME. All rights reserved. From: Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators J. Mechanisms Robotics. 2017;9(3):031013-031013-9. doi:10.1115/1.4035991 Figure Legend: 1 when θ=π/2. Distance OD represents rmin. Only case (a), (b), and (e) can generate the desired workspace (π/4≤θ≤3π/4) as they satisfy the constraint (22) and (23). As (c) and (d) do not satisfy Eqs. (22) and (23), they are excluded from re optimization.

Date of download: 10/5/2017 Copyright © ASME. All rights reserved. From: Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators J. Mechanisms Robotics. 2017;9(3):031013-031013-9. doi:10.1115/1.4035991 Figure Legend: >0)

Date of download: 10/5/2017 Copyright © ASME. All rights reserved. From: Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators J. Mechanisms Robotics. 2017;9(3):031013-031013-9. doi:10.1115/1.4035991 Figure Legend: 0)