Robotic surgical system and method of controlling robotic surgical system

A robotic surgical system, comprising:

• a surgical instrument including a pair of jaw members configured to be opened and closed by an elongate element;
• a robotic arm which includes a motor configured to drive the elongate element and to which the surgical instrument is attached;
• a first storage that stores in advance a first value corresponding to a rotation angle of the motor when a predetermined current value is reached;
• and
• a controller that is configured to acquire a second value corresponding to the rotation angle of the motor when the predetermined current value is reached, and perform calibration to change, based on the acquired second value and the first value stored in the first storage, a command angle for a tightening operation of the jaw members.

A method of controlling a robotic surgical system comprising:

• a surgical instrument including a pair of jaw members configured to be opened and closed by an elongate element;
• and a robotic arm which includes a motor configured to drive the elongate element and to which the surgical instrument is attached, the method comprising:
• acquiring a second value corresponding to a rotation angle of the motor when a predetermined current value is reached;
• and
• performing calibration that changes, based on the acquired second value and a first value stored in advance corresponding to the rotation angle of the motor for the predetermined current value, a command angle for a tightening operation of the jaw members.