Ryan Charles Abbott,John Ryan Steger,Daniel H. Gomez,Ian E. McDowall,Amy Kerdok
申请号：
US16484280
公开号：
US20190357988A1
申请日:
2018.01.25
申请国别(地区):
US
年份:
2019
代理人:
摘要：
An instrument system includes an instrument, a drive system, and a controller operably connected to a first drive mechanism and a second drive mechanism of the drive system. The controller is configured to operate the first drive mechanism and the second drive mechanism drive a flexible tensioning member of the instrument to cause movement of an end effector of the instrument while maintaining a tension applied to the flexible tensioning member of the instrument in a tension range.
