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Table 2 Calibrated robot parameter

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 0.0059
2 99.23 −1.57 0.00 −0.0179
3 291.77 0.00 0.00 0.0119
4 119.62 −1.57 310.00 0.0024
5 0.00 1.57 0.00 −0.0138
6 0.00 −1.57 −0.00 0.00
Position of maker (mm): (40.32, 0.71, 158.02)