Control System For Controlling A Surgical Robot Arm

Abstract: A control system for controlling a surgical robot arm, the surgical robot arm having a drive mechanism 5 configured for driving a robotic surgical instrument, said robotic surgical instrument comprising a first end effector element and a second end effector element, the drive mechanism comprising one or more interface elements configured to interface with the robotic surgical instrument for controlling a spread angle between the first end effector element and the second end effector element, the control system being configured to: cause an instrument drive force applied at the one or more interface elements to 10 be varied; measure, at each of a plurality of times, the instrument drive force applied at the one or more interface elements; determine, for each of the plurality of times, a force behaviour value using a derivative of the measured instrument drive force with respect to the time at that time; determine an offset value in dependence on the plurality of determined force behaviour values; and control, in dependence on the offset value, the surgical robot arm to control the spread angle between the first 15 end effector element and the second end effector element of the robotic surgical instrument. [Figure 18]

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