Off-Axis Compliant RCM Joint with Near-Isotropic Stiffness and Minimal Parasitic Error

Description

This paper presents an off-axis, monolithic compliant Remote Center of Motion (RCM) joint for neuroendoscopic manipulation, combining near-isotropic stiffness with minimal parasitic motion. Based on the Tetra II concept, the end-effector is placed outside the tetrahedral flexure to improve line of sight, facilitate sterilization, and allow rapid tool release. Design proceeds in two stages: mobility panels are sized with a compliance-based isotropy objective, then constraining panels are synthesi

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