Robotic surgical system control scheme for manipulating robotic end effectors
AssigneeCovidien LP
InventorsBrock Kopp, Kevin R. Slisz
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Abstract
A method of controlling a robotic surgical system is provided, where the robotic surgical system including an arm having an instrument with jaws and an access port each coupled to the arm. The method includes detecting a position of the instrument, and opening the jaws of the instrument, in response to a determination that a distance between the position of the instrument and a position of the access port is greater than a predetermined distance.
Claims9
A method of manipulating an end effector of a surgical instrument coupled to an arm of a robotic surgical system, the method comprising:
- detecting a position of the end effector relative to an instrument access port;
- and
- electromechanically manipulating the end effector to a position that does not clear an opening of the access port responsive to the detected position of the end effector clearing the opening of the access port.
A method of manipulating jaws of a surgical instrument coupled to an arm of a robotic surgical system, the method comprising:
- detecting a position of the surgical instrument relative to an instrument access port of a trocar;
- and
- electromechanically opening the jaws of the surgical instrument in response to a determination that a distance between the jaws of the surgical instrument and the access port of the trocar is greater than a predetermined distance.
Dependencies are inferred from the claim text.