A Motion Transmission Model for a Class of Tendon-Based Mechanisms With Application to Position Tracking of the da Vinci Instrument
Bibliographic record
Abstract
Tendon-based motion/force transmission is a conventional approach in the design of surgical robots. However, due to compliance in the tendons and significant frictions between the tendons, the pulleys, and the sheath, tendon-based systems exhibit highly nonlinear behavior that, in particular, includes hysteresis. In this paper, based on the concepts of creep theory in belt drive mechanics, a novel motion transmission model is developed for tendon-pulley mechanisms. The developed model is of pseudokinematic type; specifically, it relates the output displacement to both the input displacement and the input force. The model parameters are identified for a da Vinci instrument, and the model performance is experimentally evaluated. The experimental results demonstrate greater than 50% improvement in terms of root-mean-square position error as compared to a more conventional friction/compliance-free kinematic model. The model is subsequently used for position control of the tip of the instrument, resulting in elimination of the hysteresis and in accurate trajectory tracking.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".