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

Claim 7:
8. The control system as claimed in claim 7, configured to determine the opening angle φ between the first and second end effector elements by:
in response to the command to open the first and second end effector elements, determine an opening angle ψ to effect the opening angle between the end effector elements commanded by the surgeon input device, wherein ψ is proportional to the rotational position of the trigger relative to the body of the surgeon input device;
compare ψ to a maximum angle φmax between the first and second end effector elements; and
if ψ>φmax, drive the first and second end effector elements to rotate such that the opening angle between the first and second end effector elements φ=φmax.