This paper presents a forward kinematic model of a wire-driven surgical robot arm with an articulated joint structure and path generation algorithms with solutions of inverse kinematics. The proposed methods were applied to a wire-driven surgical robot for single-port surgery. This robot has a snake-like robotic arm with double segments to fit the working space in a single port and a ... https://www.jmannino.com/special-deal-A-Magazine-Curated-By-Sacai-quick-pick/