1. A Rigid Mechanism With Uniform, Variable Curvature1
Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
A Rigid Mechanism With Uniform, Variable Curvature1
J. Med. Devices. 2016;10(3): doi: /
Figure Legend:
A crossed four-bar mechanism forms two congruent triangles when the cross bars are of equal length and the top and bottom bars are of equal length. It maintains this congruence even when the first link is rotated, and the top and bottom are no longer parallel.

2. A Rigid Mechanism With Uniform, Variable Curvature1
Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
A Rigid Mechanism With Uniform, Variable Curvature1
J. Med. Devices. 2016;10(3): doi: /
Figure Legend:
The chain of mechanism modules is linked by a single, module-linking bar that forms a secondary mechanism through shared bar sections with the primary mechanism, driving the synchronous motion

3. A Rigid Mechanism With Uniform, Variable Curvature1
Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
A Rigid Mechanism With Uniform, Variable Curvature1
J. Med. Devices. 2016;10(3): doi: /
Figure Legend:
Stacking multiple modules of the crossed four-bar mechanism and modifying them with a module-linking bar create a single-DOF, uniform curvature arm. The pictured chain is four modules long.

4. A Rigid Mechanism With Uniform, Variable Curvature1
Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
A Rigid Mechanism With Uniform, Variable Curvature1
J. Med. Devices. 2016;10(3): doi: /
Figure Legend:
Shown with a penny as reference to scale, the prototype is 10 mm across and 22 mm deep, a size appropriate for MIS. It consists of four modules and is approximately 30 mm long.

5. A Rigid Mechanism With Uniform, Variable Curvature1
Date of download: 1/3/2018
Copyright © ASME. All rights reserved.
A Rigid Mechanism With Uniform, Variable Curvature1
J. Med. Devices. 2016;10(3): doi: /
Figure Legend:
The device prototype can resist a force of 0.5 N (hanging mass of 50 g) without significant deflection in various positions