Transmission Backlash Compensation and Grasping Force Estimation of Surgical Instruments for the Laparoscopic Minimally Invasive Surgery Robot

It is difficult to install the sensor on end effector of a minimally invasive surgical robot with narrow space within which obtain position and grasping force; thus, elongation effect cable-driven instruments results in low precision control, may damage tissues organs patients. A novel transmission backlash compensation force saturation limitation algorithm based tension displacement model cable-pulley system proposed improve operation’s accuracy safety. The considers characteristics each stage including transition stage. Experimental verifications show that can significantly tracking safety operations.