Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery

Figure 7

Kinematic structure selection.

(a) Kinematic structure based on the Stewart-Gough architecture

(b) Kinematic structure based on 2 DOF parallel architecture

(c) Kinematic structure with nonspherical wrist

(d) Kinematic structure with parallelogram wrist

(e) Kinematic structure circular with tracking arcs wrist

(f) Kinematic structure with serial RCM wrist