Purpose#R##N#The hysteresis operation is an outstanding issue in tendon-driven actuation—which is used in robot-assisted surgery—as it is incompatible with kinematic mapping for control and trajectory planning. Here, a new tendon-driven continuum robot, designed to fit existing neuroendoscopes, is presented with kinematic mapping for hysteresis operation.
['Takahisa Kato', 'Ichiro Okumura', 'Hidekazu Kose', 'Kiyoshi Takagi', 'Nobuhiko Hata']
Tendon-driven continuum robot for neuroendoscopy: validation of extended kinematic mapping for hysteresis operation