Robot assisted minimally invasive surgery helps overcome some of the limitations like limited dexterity, fulcrum effect, and lack of 3D vision in manual laparoscopic procedures [1]. A Remote Centre of Motion (RCM) mechanism is an essential part of tele-operated surgical robots. An RCM mechanism enables a rigid surgical tool to maintain a kinematic constraint about the insertion point on a patient's body [2]. It permits a surgical tool to pivot only about the insertion point and prevents tool translation about the insertion point [3]. A parallelogram architecture based RCM mechanism is one of the most commonly used RCM mechanisms in surgical robots [4] due to its simplicity and large usable range of motion. Commercially available surgical robots such as da Vinci™ from Intuitive Surgical Inc. [5] use synchronous transmission [2] based passive RCM mechanism as a substitute for parallelogram based RCM.
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