Beispiel #1
0
        public void update_needle_holder_position(Matrix3D T35)
        {
            Vector3D tip     = new Vector3D(needle_tip_position.X, needle_tip_position.Y, needle_tip_position.Z);
            Vector3D needle  = new Vector3D(-28, 0, 0);
            Vector3D grasper = new Vector3D();

            tip = NeedleKinematics.correctionBack(tip);
            Vector3D rotated_needle = new Vector3D();

            rotated_needle           = NeedleKinematics.transform(T35, needle);
            grasper                  = tip - rotated_needle;
            grasper                  = NeedleKinematics.correction(grasper);
            needle_holder_position.X = grasper.X;
            needle_holder_position.Y = grasper.Y;
            needle_holder_position.Z = grasper.Z;
        }
 public Needle()
 {
     kinematics = new NeedleKinematics();
 }
Beispiel #3
0
 public Needle()
 {
     kinematics = new NeedleKinematics();
 }