四自由度微创手术器械的机构综合及运动学分析

李坤,李继华,李磊,卓越,潘博,付宜利

Mechanism synthesis and kinematic analysis of 4-DOF minimally invasive surgical instrument

Kun LI,Ji-hua LI,Lei LI,Yue ZHUO,Bo PAN,Yi-li FU

图 2 转动式腕部的机构示意图

Fig.2 Mechanism diagram of rotatory wrist