| 摘要 |
PROBLEM TO BE SOLVED: To provide medical instruments that can avoid slack in drive tendons without requiring high preloaded tension.SOLUTION: A robotic surgical system uses a passive preload system attached to a tendon that is wrapped around a capstan to control relaxed tension in the tendon. The passive preload system can employ a spring or other structures to apply tension to the tendon. The capstan can be driven by a motor when the tendon is needed to pull a structural member of the instrument. |
