新型线驱动式微创手术器械结构设计与运动学分析

赵万博,陈赛旋,姜官武,李荣,章宇

Structural design and kinematics analysis of new cable-driven minimally invasive surgical instrument

Wanbo ZHAO,Saixuan CHEN,Guanwu JIANG,Rong LI,Yu ZHANG

图8 传统线驱动式手术器械偏摆关节运动示意

Fig.8 Schematic of motion of yaw joint of traditional cable-driven surgical instrument