Chou, ChingChingChouLin, Yu-WeiYu-WeiLinYU-HSIU LEE2026-01-082026-01-082025-07-0124058971https://www.scopus.com/record/display.uri?eid=2-s2.0-105023127582&origin=resultslisthttps://scholars.lib.ntu.edu.tw/handle/123456789/735153The Remote Center of Motion (RCM) mechanism is widely-used in minimally invasive surgery (MIS), additive manufacturing, and medical imaging, where large or spherical workspace are essential. Spherical scissors mechanisms, a type of RCM mechanisms, offer significant advantages, including spherical workspace, singularity prevention and smooth pitch-roll motion, but face challenges such as high inertia from proximal motor placement and limited tool exchange capabilities. This work introduces a spherical scissors mechanism that integrates distal actuation via Bowden cables and a novel tool exchange mechanism. The proposed design positions all motors at the base, minimizing inertia and ensuring a compact footprint, while employing a pin-and-slot system for transverse tool exchange. The robot achieves four degrees of freedom (roll, pitch, tool rotation and insertion) within a compact volume. Preliminary validation demonstrates the feasibility of achieving RCM motion, efficient distal actuation, and reliable manual tool exchange, providing a foundation for future automation and expanded applications.truedistal actuationRemote center of motion mechanismtool exchangeconference paper10.1016/j.ifacol.2025.10.1952-s2.0-105023127582