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

Claim 13:
14. The control system as claimed in claim 1, configured to:
following driving the first and second end effector elements to rotate such that the angle between the longitudinal axis of the articulated coupling and the end effector is θmax, receive a further command from the surgeon input device to increase the opening angle between the first and second end effector elements relative to each other;
in response to the further command:
determine an opening angle φ′ if between the first and second end effector elements;
determine an angle θmax′ between the longitudinal axis of the articulated coupling and the end effector, where θmax′ is a function of if φ′; and
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.