Analysis of tendon tension and hysteresis by tendon twisting and development of anti-twist tendon mechanism of robotic surgical instruments.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
PMID: 34962681

Abstract

BACKGROUND: Control of the joints of robotic surgical instruments is difficult owing to hysteresis, and tendon twisting due to axial rotation of surgical tools also causes hysteresis. Therefore, a new mechanism is needed to prevent tendon twisting.

Authors

  • Dukyoo Kong
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.
  • Un-Je Yang
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.
  • Chang-Kyun Kim
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.
  • Jeongdo Ahn
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea.
  • Dong-Soo Kwon
    Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology(KAIST), 291 Daehak-ro Yuseong-gu, Daejeon, 34141, Republic of Korea.

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