Mitchell J. H. Lum, Jacob Rosen, Mika N. Sinanan, Blake Hannaford. Kinematic Optimization of a Spherical Mechanism for a Minimally Invasive Surgical Robot. In Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA. pages 829-834, IEEE, 2004. [doi]
Abstract is missing.