OPENTECHNICAL PUBLICATION
OT-2026-000001569

Control of a surgical instrument having backlash, friction, and compliance under external load in a surgical robotic system

Published: 2026-09-15T19:06:44.124062Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001569
Categories: Robotics & Automation > Robot Architectures

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ABSTRACT

For control of a surgical instrument in a surgical robotic system, multiple
actuators establish a static pretension by actuating in opposition to each
other in torque control. The static pretension reduces or removes the
compliance and elasticity, reducing the backlash width. To drive the tool, the
actuators are then moved in cooperation with each other in position mode
control so that the movement maintains the static pretension while providing
precise control.

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OpenTechnical publication OT-2026-000001569
Published 2026-09-15T19:06:44.124062Z
https://opentechnical.org/p/OT-2026-000001569