Apparatus for generating motion around a remote centre of motion KU Leuven
Apparatus (10) for generating motion around a remote center of motion (RCM), comprising a distal link (L12) arranged to revolve about the remote center of motion and to translate through the remote center of motion, a proximal link (L10) arranged to revolve about a proximal center of motion (LCM), coupled to a base link (L1), through a rotational joint (150) and a sliding joint (181), a first mechanism comprising a first link (L9) pivotally coupled to the proximal link (L10) and to the distal link (L12) and operable to transfer motion of the proximal link relative to the proximal center of ...