According to the input **data** corresponding to DGM, the matrix of nominal geometry M (0) vn for the 6R CardioVR-ReTone robot is presented in Table 2.   Table 1 and Figure 2, Table 3 highlights the geometrical particularities for the 6R CardioVR-ReTone robot.   
1 R 0 l 0 l 1 0 1 0 2 R 0 −l 2 l 3 0 0 1 3 R l 4 −l 5 0 0 0 1 4 R 0 l 6 0 0 0 1 5 R l 7 0 −li ∆ i = 1 k i ≡ {x i , y i , z i } 1 y k i ≡ y i = 0 1 0 T 2, 3, 4 z k i ≡ z i = 0 0 1 T 5, 6 x k i ≡ x i = 1 0 0 T For i = 7,
which, in keeping with (8), according to (9), lead to: 