| Chapter 1. Introducti | 第1-16页 |
| ·Overview | 第7-8页 |
| ·Manipulators | 第8-9页 |
| ·Positioning Errors and Calibration | 第9-10页 |
| ·Robot Accuracy, Repeatability and Resolution | 第10-13页 |
| ·Utility of Robot Calibration | 第13-14页 |
| ·Research Objectives | 第14-16页 |
| Chapter 2. Literature | 第16-31页 |
| ·Introduction | 第16-17页 |
| ·Parallel Manipulators | 第17-22页 |
| ·Hybrid Manipulators | 第22-23页 |
| ·High Intensity Focused Ultrasound [HIFU] | 第23-28页 |
| ·Chapter summary | 第28-31页 |
| Chapter 3. Structure and Kinematics of 5-DOF Hybrid Medical Machine Based On 3-PRS Parallel Mechanism | 第31-51页 |
| ·Introduction | 第31-32页 |
| ·Requirements and Design Characteristics of HIFU Hybrid Manipulator | 第32-33页 |
| ·General Structure of HIFU 5-DOF Hybrid Manipulator | 第33-37页 |
| ·Manipulator Error Analysis | 第37-38页 |
| ·Geometric Model of 3-PRS manipulator | 第38-39页 |
| ·Nominal Inverse Kinematics Analysis of 3-PRS Mechanism | 第39-44页 |
| ·Nominal Forward Kinematics of 3-PRS Manipulator | 第44-46页 |
| ·Practical Forward Kinematics of 3-PRS | 第46-48页 |
| ·Practical Inverse Kinematics | 第48-50页 |
| ·Chapter summary | 第50-51页 |
| Chapter 4. Calibration of 5-DOF Hybrid Manipulator Based on 3-PRS Parallel | 第51-92页 |
| ·Introduction | 第51-52页 |
| ·Kinematic Model Based Calibration Methods | 第52-55页 |
| ·Non-parametric calibration Methods | 第55-56页 |
| ·Mathematical Philosophy in Kinematic Calibration | 第56-57页 |
| ·Self-calibration Based on Planar Constraints | 第57-59页 |
| ·Matrix Rank Analysis | 第59-60页 |
| ·Hardware and Software Setup | 第60-62页 |
| ·3-PRS Kinematic Calibration Model | 第62-87页 |
| ·Results and discussion | 第87-90页 |
| ·Chapter summary | 第90-92页 |
| Chapter 5. Thermal Effect of High Intensity Focused Ultrasound Energy | 第92-108页 |
| ·Introduction | 第92-93页 |
| ·Transducer Performance and Its Acoustic Focal Length | 第93-95页 |
| ·Materials and Method | 第95-104页 |
| ·Results and Discussion | 第104-106页 |
| ·Chapter summary | 第106-108页 |
| Chapter 6. Conclusions and Future Works | 第108-111页 |
| Acknowledgement | 第111-112页 |
| References | 第112-122页 |
| Related Publications | 第122页 |
