| 摘要 |
In one embodiment of the invention, a method for a set-up arm of a robotic surgical system is disclosed. The method includes balancing a linkage structure with a balancing mechanism to support a load; moving the linkage structure varying a moment at a pivot point due to the load at the end of a link of the linkage structure; and changing a path length of one or more cables over a plurality of pulleys in the balancing mechanism to compress or decompress a spring to respectively increase or decrease tension in the one or more cables to balance the variance in the moment.
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