Research on kinematics and attitude control model of a surgical interventional catheter
To solve the problems of poor versatility and inactivity of the traditional interventional catheters, a forward kinematic model of multi-segment catheters in series is established by using D-H parameter method, which is based on the geometrical structure of the designed catheters. In order to ensure...
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2019-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881419874639 |