Surgical robotic system and method for optical measurement of end effector pitch, yaw, and jaw angle

Abstract

A surgical robotic system includes an instrument having a shaft defining a longitudinal axis and an end effector pivotable relative to the shaft at a yaw angle, the end effector including a pair of jaws pivotable at a pitch angle and openable to a jaw angle. The system also includes a first imaging device configured to obtain a first image of the end effector along a first axis; a second imaging device configured to obtain a second image of the end effector along a second axis; and a third imaging device configured to obtain a third image of the end effector along a third axis, wherein each of the first, second, and third axes are transverse relative to each other.

Dependencies are inferred from the claim text.