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-preview.hindawi.com/articles/jhe/volume-2017/4264356/figures/4264356.fig.008a.svgz" name="4264356.fig.008a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Static joint angle</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/jhe/volume-2017/4264356/figures/4264356.fig.008b.svgz" name="4264356.fig.008b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Static joint torque</td></tr></table>

<div>Joint angle and static torque.</div>

Journal of Healthcare Engineering

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Figure 8

Figure 8: Development of a Prototype Robotic System for Radiosurgery with Upper Hemispherical Workspace 