经支气管诊疗机器人设计及其柔性末端执行器位姿研究
张艳平1(
),姜洁1,2(),付治国1,姜晓宇1,王泊鸥1
),姜洁1,2(),付治国1,姜晓宇1,王泊鸥1
Design of transbronchial diagnosis robot andresearch on pose of flexible end-effector
Yanping ZHANG1(),Jie JIANG1,2(),Zhiguo FU1,Xiaoyu JIANG1,Boou WANG1
),Jie JIANG1,2(),Zhiguo FU1,Xiaoyu JIANG1,Boou WANG1
图5. 支气管镜柔性导管弯曲段的内部结构
Fig.5. Internal structure of flexible catheter bending section of bronchoscope
