Design and Experiment of Assistive Mechanism for Adjustment of Transrectal Ultrasound Probe

Table 1

D-H parameters of manipulator.

Rod	1	2	3	4	5	6	7	8
(°)	0	29.5	200	29.5	250	300		190
(°)	0	-90	0	90	0	90	0
(mm)	445	0	0	0	0	0	0	0
(°)							0	0