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Keywords: virtual center mechanism
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Journal Articles
Publisher: ASME
Article Type: Design Innovations
J. Med. Devices. September 2010, 4(3): 035003.
Published Online: September 10, 2010
... center mechanism at the tool input. The virtual center mechanism, made possible by the forearm-attached tool frame, creates a virtual two-DoF input joint that is coincident with the surgeon’s wrist, allowing the surgeon to rotate his/her hand with respect to his/her forearm freely and naturally. A cable...