Fig. 5From: Optimization and preoperative adjustment design of remote center motion mechanism for minimally invasive surgical robotThe relation between k and α 1 and α 2. When α 2 = (50/180)*π, A α 1 = (10/180)*π, B α 1 = (30/180)*π, C α 1 = (50/180)*π, D α 1 = (70/180)*π, E α 1 = (90/180)*πBack to article page