TENSION CONTROL IN ACTUATION OF JOINTED INSTRUMENTS
Number of patents in Portfolio can not be more than 2000
United States of America
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Issued Date -
Dec 26, 2024
app pub date -
Aug 21, 2024
filing date -
Aug 21, 2024
priority date (Note) -
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status (Latency Note)
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Abstract
A medical instrument system includes actuators, a medical instrument, and a control system operably connected to the actuators. The medical instrument includes a reconfigurable portion and transmission systems, each of which couples the reconfigurable portion to an actuator of the actuators such that the actuators are operable to drive the transmission systems to move the end portion. The control system is configured to execute operations including determining a difference between a current configuration of the end portion and a desired configuration of the reconfigurable portion, and operating the actuators to apply tensions to the transmission systems based on the difference and based on a nominal tension.
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