Design and Workspace Analysis of a Differential Motion Rotary Style Breast Interventional Robot

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/abb/volume-2020/8852228/figures/8852228.fig.0014a.svgz" name="8852228.fig.0014a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>The calibration position is 40 mm</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/abb/volume-2020/8852228/figures/8852228.fig.0014b.svgz" name="8852228.fig.0014b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Initial state</td></tr></table>

<div>Calibration of hydraulic drive system.</div>

Applied Bionics and Biomechanics

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Figure 14

Figure 14: Design and Workspace Analysis of a Differential Motion Rotary Style Breast Interventional Robot 