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The structure of a differential rotary breast interventional robot is set, aided by the website link frames assigned to the system and the Denavit-Hartenberg variables offered. Workspace simulation of MRI-compatible breast interventional robot is done in MATLAB. The 3D imprinted MRI-compatible breast interventional robot is assembled and debugged to validate that its working space and placement mistake meet up with the demands.Research of breakage regarding the chestnut tree branch in the sowing of college
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