Articulated Manipulator for Minimally Invasive Surgery (AMMIS)
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A mechanism is described to provide dexterity through articulation. The mechanism includes a plurality of concatenated segments for transferring angular rotational motion from a driving device located at its base to the distal end. Each segment in the mechanism acts as both a driven element and a driving element whereby each segment is articulated so that the total articulation of the mechanism is the sum of the articulation motions of each segment.
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