Patent Link: http://www.google.com/patents/CN202943645U?cl=en
http://worldwide.espacenet.com/publicationDetails/biblio?CC=CN&NR=202943645U&KC=U&FT=D
http://worldwide.espacenet.com/publicationDetails/biblio?CC=CN&NR=202943645U&KC=U&FT=D
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The system only utilize one key to lock the whole seven degrees of freedom and explicitly transmit force to key parts of the system and utilize friction to lock the whole system, which is very innovative. A fixture is designed to fix the manipulator on the operating table and help facilitate surgery operation. The manipulator is designed to be able to stably fixed at a specified angle.