| 摘要 |
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 structure to apply tension to the tendon. The capstan can be driven by a motor when the tendon is needed to pull on a structural member of the instrument. For example, for the application of clamping pressure or movement of the structural member against resistance, capstan friction can produce the tendon tension that is many times the tension applied by the passive preload system. However, when the tendon is not needed to apply force to the member, the capstan can be freed, so that the spring system provides enough tension to prevent derailment or other malfunctions of the tendon. The low tension in relaxed tendons can reduce tendon friction, particularly in instruments with flexible shafts. |
