Cable-Driven Mechanism Models for Sensitive and Actuated Minimally Invasive Robotic Instruments
Giovanni Gerardo Muscolo,
Paolo Fiorini
Abstract:Cable-driven mechanism models are, usually, included in actuated systems; however, recently, their use for sensitive systems has been explored. In this paper, two cable-driven multi-body mechanism models are compared, underlining advantages and constraints in using sensitive cable-driven mechanisms for minimally invasive robotic instruments. The proposed approach could be useful in bypassing sterilization problems for surgical robotic instruments because our system allows for the separation of the robotic ster… Show more
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