Overcoming Abdominal and Pelvic Cavity Workspace Constraints in Robotic-Assisted NOTES

Table 1

D-H parameters of the proposed new design of 7-DOF robotic arm for NOTES.

Link	a i−1 (mm)	α i−1 (deg)	d i (mm)	θ i (deg)	DOF
1	0	0	0	θ 1	Shoulder sway
2	16.5	−90°	0	θ 2	Shoulder pitch
3	65.5	90°	0	θ 3	Elbow sway
4	16.5	−90°	0	θ 4	Elbow pitch
5	0	90°	64.6	θ 5	Roll
6	0	90°	0	θ 6	Pitch
7	11.7	−90°	0	θ 7	Yaw