Patent ID: 11969228
Assignee: CMR SURGICAL LIMITED
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A  G

Claim 0:
1. A control system configured to control manipulation of a surgical instrument in response to manipulation of a remote surgeon input device, the surgical instrument comprising an end effector having opposable first and second end effector elements connected to a shaft by an articulated coupling, the control system configured to:
receive a command from the surgeon input device to both (i) change the orientation of the end effector, and (ii) open the first and second end effector elements relative to each other;
in response to the command to change the orientation of the end effector, determine an angle θ between the longitudinal axis of the articulated coupling and the end effector;
in response to the command to open the first and second end effector elements, determine an opening angle tri between the first and second end effector elements;
compare θ to a maximum angle θmax between the longitudinal axis of the articulated coupling and the end effector, wherein θmax is a function of φ and αmax, αmax being the maximum rotation angle between the longitudinal axis of the articulated coupling and the end effector element furthest from the longitudinal axis of the articulated coupling; and
if θ>θmax, drive the first and second end effector elements to rotate such that (i) the angle between the longitudinal axis of the articulated coupling and the end effector is θmax, and (ii) the opening angle between the first and second end effector elements is φ.