Abstract
Although minimally invasive endoscopic surgeries have been attracted attentions, the quality of the surgery depends on surgeon's skill. The reason comes from the fact that an endoscope has narrow viewing angle and surgical tools in patient body have low-degree-of-freedom. One of the approaches to solve the issue is utilization of a surgical robot such as da Vinci. Since downsizing of end effector is required for surgery robots, a tendon-driven joint with two degrees of freedom is effective. However conventional position/force controller for the mechanism does not take account of dynamics of the tendon-driven joint. This paper therefore proposes position/force controller taking dynamics into account.
