Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot

<table class="table-group" id="tab6"><tr><td><table class="table"><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr class="thead"><td class="align_left">Number</td><td class="align_center">Joint 1</td><td class="align_center">Joint 2</td><td class="align_center">Joint 3</td><td class="align_center">Joint 4</td><td class="align_center">Joint 5</td><td class="align_center">Joint 6</td></tr><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr><td class="align_left">Percent (%)</td><td class="align_center">34.32</td><td class="align_center">33.42</td><td class="align_center">34.45</td><td class="align_center">33.92</td><td class="align_center">34.26</td><td class="align_center">34.24</td></tr><tr class="table-tr"><td colspan="7"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>The average increased percentage of joint model accuracy.</div>

Mathematical Problems in Engineering

tab6

Table 6

Table 6: Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot 