新型线驱动式微创手术器械结构设计与运动学分析
Structural design and kinematics analysis of new cable-driven minimally invasive surgical instrument
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 |
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Structural design and kinematics analysis of new cable-driven minimally invasive surgical instrument |
| Wanbo ZHAO,Saixuan CHEN,Guanwu JIANG,Rong LI,Yu ZHANG |
| 图10 新型线驱动式手术器械的D-H坐标系 |
| Fig.10 D-H coordinate system of new cable-driven surgical instrument |
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