Let $C(3,4),D(1,2)$. Also, let $E(X,Y)$ be the midpoint of $AB$.
$\qquad\qquad\qquad$^2+(Y-4)^2}$$ we have $$|AE|^2=|AC|^2-|CE|^2=36-(X-3)^2-(Y-4)^2\tag1$$
Also, since we can see that $D$ is on the circle whose diameter is the line segment $AB$, we have $$|DE|=|AE|\tag 2$$
From $(1)(2)$, we have $$36-(X-3)^2-(Y-4)^2=(X-1)^2+(Y-2)^2,$$ i.e. $$X^2+Y^2-2\cdot 2X-2\cdot 3Y-3=0.$$
Hence, $a=2,b=3,c=3.$