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. 2019 Oct 11;15(1):15–25. doi: 10.1007/s11548-019-02074-1

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© The Author(s) 2019

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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Fig. 2 — Kinematic structure of the slave robot of MRRP and the sketch for the motorized microsurgical tool. a The kinematic structure of the slave robot; b the sketch and working mechanism illustration for the motorized microsurgical tool