• A pair of master arm assemblies is  configured to generate commands based on a user’s hand movement.
• The said Slave arm assembly is an adjustable passive arm assembly comprising:
• A parallelogram based remote center of motion (RCM) module
• An L-arm mounting the parallelogram based RCM module
• A surgical tool placed in a first face of the RCM module and attached at a distal end thereof
• The said central controller electronically tethers the master arm and slave arm assemblies.

The system includes:

Master Arm comprises:

• Support members connected by joints with motors.
• Grasper assembly capturing the user’s hand movement.

Capstan Drive Transmission

• Motors connected to the parallelogram-based RCM module via capstan drive transmission

Passive Arm Assembly :

• Comprises support members connected by at least three joints

Brake Mechanism for Joints:

• Taper roller bearings, brake disc, and brake lever with a screw for joint clamping.

Surgical Tool :

• Translates along RCM mechanism links and Comprises a drive mechanism that includes  a linear motion guide,  a preloaded capstan drive ,a constant tension spring for gravity compensation

Master Arm Degrees of Freedom

• Master arm comprises 7 degrees of freedom (DOF).

Tool Axis and Roll Motor

• Surgical tool axis coincides with the roll axis at the RCM point.
• Roll motor counterbalances the surgical tool along the roll axis.

Counter Balancing and Control

• Master arm includes counterbalancing masses.
• Feed-forward control loop for inertia and gravity compensation.

The system further includes a camera assembly  comprising:

Camera Arm Assembly

• C arm-based RCM mechanism
• Endoscopic camera movable and clamped along pitch and roll axes.
• Motor drive for camera movement.
• Position encoder to track camera positioning.

Camera Joint

• Each joint includes a D-shaped interrupting disc with a photoelectric sensor for finding a reference point