Systems and methods for controlling elastic cable driven robot joints

Abstract

Systems and methods for controlling cable driven surgical robot joints are provided. For example, a system can include a robotic joint of a robotic arm, a first motor, a second motor, a cable coupled to the first motor and the second motor and operationally coupled to the robotic joint to control a position of the robotic joint, a memory storing one or more instructions, and a processor configured to or programmed to read the one or more instructions stored in the memory. The processor can be configured to determine an unacceptable amount of slack or tension in the cable. The processor can be further configured to execute the one or more instructions in the memory to adjust the first motor and the second motor to remove the unacceptable amount of slack in the cable.

Dependencies are inferred from the claim text.