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10
从端装置径向旋转的动力学模型
Fig.10
Dynamics model of radial rotation of slave device