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Robotics and Biomimetics

Table 2 Judgment matrix value

From: Optimization and preoperative adjustment design of remote center motion mechanism for minimally invasive surgical robot

 

a1

a2

a3

a4

a5

a6

a7

a8

a1

1

1

1

2

2

2

2

2

a2

1

1

1

2

2

2

2

2

a3

1

1

1

2

2

2

2

2

a4

0.5

0.5

0.5

1

1

1

1

1

a5

0.5

0.5

0.5

1

1

1

1

1

a6

0.5

0.5

0.5

1

1

1

1

1

a7

0.5

0.5

0.5

1

1

1

1

1

a8

0.5

0.5

0.5

1

1

1

1

1

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