The tendon-sheath mechanism (TSM) is widely used for flexible surgical robots owing to its
ability to transfer motion through complicated paths and small volumes. However, precise …

Hysteresis causes difficulties in precisely controlling motion of flexible surgery robots and
degrades the surgical performance. In order to reduce hysteresis, model-based feed-forward …

Tendon-sheath mechanisms offer a means for a flexible surgical robot to be operated
efficiently in restricted environments, for example, the long and narrow paths inside human …

Background The hysteretic forces arising from the electric cables that externally run along
the robotic joints are the main disturbance to the precise parameter estimation of gravity …

A method of determining hysteresis according to an example embodiment may include
capturing a real-time image of the surgical robot driven according to a drive input, and …