1. Date of download: 11/2/2017
Copyright © ASME. All rights reserved.
From: Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot
J. Med. Devices. 2015;9(1): doi: /
Figure Legend:
DOF constraints of MIS at the incision point

2. Date of download: 11/2/2017
Copyright © ASME. All rights reserved.
From: Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot
J. Med. Devices. 2015;9(1): doi: /
Figure Legend:
The double parallelogram mechanism

3. Date of download: 11/2/2017
Copyright © ASME. All rights reserved.
From: Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot
J. Med. Devices. 2015;9(1): doi: /
Figure Legend:
Two movable planes with the intersection line passing through a fixed point

4. Date of download: 11/2/2017
Copyright © ASME. All rights reserved.
From: Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot
J. Med. Devices. 2015;9(1): doi: /
Figure Legend:
The kinematic structure of the robot wrist

5. Date of download: 11/2/2017
Copyright © ASME. All rights reserved.
From: Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot
J. Med. Devices. 2015;9(1): doi: /
Figure Legend:
The kinematic model of the 2DOF parallel RCM mechanism

6. Date of download: 11/2/2017
Copyright © ASME. All rights reserved.
From: Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot
J. Med. Devices. 2015;9(1): doi: /
Figure Legend:
The variations of the area of workspace versus the dimensional parameter β. (a) β = 20 deg, (b) β = 30 deg, (c) β = 40 deg, (d) β = 45 deg, (e) β = 50 deg, and (f) β = 60 deg.

7. Date of download: 11/2/2017
Copyright © ASME. All rights reserved.
From: Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot
J. Med. Devices. 2015;9(1): doi: /
Figure Legend:
The variations of γ versus the dimensional parameter β

8. Date of download: 11/2/2017
Copyright © ASME. All rights reserved.
From: Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot
J. Med. Devices. 2015;9(1): doi: /
Figure Legend:
A prototype of the proposed MIS robot: (a) the prototype of the proposed robotic wrist and (b) an installation scheme of the robot

9. Date of download: 11/2/2017
Copyright © ASME. All rights reserved.
From: Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot
J. Med. Devices. 2015;9(1): doi: /
Figure Legend:
The distribution of 1/κ(J) versus the title angles ψx and ψy when β = 30 deg