重离子放疗辅助医用机械臂避撞路径规划研究
乔宇，姚运萍，马利强，杨小龙，陈继鹏，陈惠贤
Collision Avoidance Path Planning of Medical Manipulator Assisted by Heavy Ion Radiotherapy
QIAO Yu, YAO Yunping, MA Liqiang, YANG Xiaolong, CHEN Jipeng, CHEN Huixian
中国医疗设备
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2019, (6): 61
-65
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DOI: 10.3969/j.issn.1674-1633.2019.06.016
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