Dimensions overall score 5.0

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• The off-axis compliant RCM joint achieves a stiffness-ellipse principal axis ratio (PAR) of 1.37, indicating near-isotropic stiffness.result 95%
• The joint exhibits a parasitic-to-useful rotation ratio (PRR) of 0.63%, indicating minimal parasitic motion.result 95%
• Under a 4.5° commanded rotation, the predicted RCM drift remains sub-millimetric, specifically between 0.015 mm and 0.172 mm.result 90%
• The joint's design process involves a two-stage method: first sizing mobility panels for isotropy, then synthesizing constraining panels to trade stiffness isotropy against RCM drift.method 90%
• Fatigue analysis predicts a usable rotational workspace of 12.1° to 34.4°, depending on the direction of rotation.technical 90%
• The joint is designed such that any unintended shift of the RCM under actuation shall not exceed 1 mm, a safety requirement for surgical use.technical 95%
• Benchtop experiments applying a 2 N radial load showed that the simulated directional stiffness trend was reproduced with typical deviations of 6-30%.result 85%
• The joint is based on the Tetra II concept, with the end-effector placed outside the tetrahedral flexure to improve line of sight, facilitate sterilization, and allow rapid tool release.technical 90%

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