{"paper":{"title":"Efficient Data-driven Joint-level Calibration of Cable-driven Surgical Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Andrew Lewis, Blake Hannaford, Dun-Tin Chiang, Haonan Peng, Helen Lai, Shan Lin, Wenfan Jiang, Yun-Hsuan Su","submitted_at":"2024-08-02T23:46:57Z","abstract_excerpt":"Knowing accurate joint positions is crucial for safe and precise control of laparoscopic surgical robots, especially for the automation of surgical sub-tasks. These robots have often been designed with cable-driven arms and tools because cables allow for larger motors to be placed at the base of the robot, further from the operating area where space is at a premium. However, by connecting the joint to its motor with a cable, any stretch in the cable can lead to errors in kinematic estimation from encoders at the motor, which can result in difficulties for accurate control of the surgical tool."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2408.01604","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2408.01604/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}