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): doi: /
Figure Legend:
A double-parallelogram RCM mechanism

2. 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): doi: /
Figure Legend:
Required workspace for minimally invasive surgery

3. 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): doi: /
Figure Legend:
Trivial forms of the proposed two DOF RCM mechanism

4. 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): doi: /
Figure Legend:
The proposed two DOF RCM mechanism

5. 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): doi: /
Figure Legend:
A simplified representation of the proposed RCM mechanism

6. 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): doi: /
Figure Legend:
The alignment mechanism to maintain the remote center of motion constraint. A3 is a passive prismatic joint.

7. 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): doi: /
Figure Legend:
Mechanism workspace (light gray) and the required workspace for MIS (dark gray)

8. 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): doi: /
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

9. 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): doi: /
Figure Legend: 0)

10. 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): doi: /
Figure Legend: 1

11. 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): doi: /
Figure Legend:
Effective translation in the simplified representation of the proposed mechanism

12. 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): doi: /
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.

13. 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): doi: /
Figure Legend:
>0)

14. 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): doi: /
Figure Legend: 0)