Controlling a surgical instrument
A control system for controlling manipulation of a surgical instrument in response to a remote surgeon input device. The surgical instrument comprises opposable first and second end effector elements connected to a shaft by an articulated coupling. The control system transforms commands from the inp...
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Format: | Patent |
Sprache: | eng |
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Zusammenfassung: | A control system for controlling manipulation of a surgical instrument in response to a remote surgeon input device. The surgical instrument comprises opposable first and second end effector elements connected to a shaft by an articulated coupling. The control system transforms commands from the input device 804 to alter the angle between the first and second end effector elements according to a first control relationship 803 to drive the first and second end effector elements to rotate 805. When the control system receives sensed forces 801 applied to the first and second end effector elements, it compares the sensed forces to a threshold force 802. Upon determining that the threshold force has been exceeded, the control system transforms subsequent commands from the input device 807 to alter the angle between the first and second end effector elements according to a second control relationship 806 to drive the first and second end effector elements to rotate 808, the second control relationship being different from the first control relationship. |
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