一种具有力检测机制的新型血管介入手术机器人

陈翼楠,蒲志新,郑珍妮

A novel vascular interventional surgery robot with force detection mechanism

Yi-nan CHEN,Zhi-xin PU,Zhen-ni ZHENG

图2 主端装置结构示意

Fig.2 Structure diagram of master device