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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
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Structural Design and Optimisation of a Semi-Direct-Drive Master Manipulator

Rui Han1, Hongqiang Sang1,2, Fen Liu1

  • 1School of Mechanical Engineering, Tiangong University, Tianjin, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|June 4, 2026
PubMed
Abstract

Keywords:
gravity compensation mechanismmaster manipulatorstructural optimisation

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