I am analyzing a concept of a surgical robot with 4 revolute joints and one sliding joint. I am not able to fix the coordinate frame for last prismatic joint.
Following are the schematics of robot and DH frames I have fixed
[![Schematic](https://i.stack.imgur.com/xYWwR.jpg)](https://i.stack.imgur.com/xYWwR.jpg)
[![enter image description here](https://i.stack.imgur.com/LwoXy.jpg)](https://i.stack.imgur.com/LwoXy.jpg)

As X4 axis and X5 axis are intersecting each other, I am not able to capture joint distance variable(di) for the slider. How can I fix this?

Following are the parameters for rest of the frames
[![enter image description here](https://i.stack.imgur.com/ijW2u.png)](https://i.stack.imgur.com/ijW2u.png)

Updated Frames:[![enter image description here](https://i.stack.imgur.com/21c3x.jpg)](https://i.stack.imgur.com/21c3x.jpg)