张建勋. 用于显微手术操作的机器人系统的体系结构分析[J]. 机器人, 2006, 28(3): 303-308,315..
ZHANG Jian-xun. Architecture of a Robot System Applied to Micro-surgery. ROBOT, 2006, 28(3): 303-308,315..
Abstract：The characteristics of two main kinds of MSs(micro-surgeries) are discussed firstly.Then,based on the(requirements) of MS for robotics,the robotic system which could be used in MS is analyzed in the architecture,working and design of its control system.Common rules for designing the MS robotic system are derived from analysis of the research instances.
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