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Table 1 The nominal parameters of robot

From: An optical tracker based robot registration and servoing method for ultrasound guided percutaneous renal access

Joint a(mm) α(rad) d(mm) θ(rad)
1 0.00 0.00 0.00 0.00
2 100.00 −1.57 0.00 0.00
3 290.00 0.00 0.00 0.00
4 121.00 −1.57 310.00 0.00
5 0.00 1.57 0.00 0.00
6 0.00 −1.57 0.00 0.00
Position of maker (mm): (40.00, 0.00, 160.00)