Development of a Prototype Robotic System for Radiosurgery with Upper Hemispherical Workspace

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jhe/volume-2017/4264356/figures/4264356.fig.009a.svgz" name="4264356.fig.009a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>The velocity</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jhe/volume-2017/4264356/figures/4264356.fig.009b.svgz" name="4264356.fig.009b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>The acceleration</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/jhe/volume-2017/4264356/figures/4264356.fig.009c.svgz" name="4264356.fig.009c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>The torque</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/jhe/volume-2017/4264356/figures/4264356.fig.009d.svgz" name="4264356.fig.009d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>The power</td></tr></table>

Journal of Healthcare Engineering

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Figure 9

Figure 9: Development of a Prototype Robotic System for Radiosurgery with Upper Hemispherical Workspace 