From: New remote centre of motion mechanism for robot-assisted minimally invasive surgery
Joint
a (mm)
α (°)
d (mm)
θ (°)
1
0
100
2
270
θ 2
3
150
θ 3
4
− (90 + 30)
θ 4
5
− 90
620
θ 5
6
90
θ 6
7
d 7