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 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 be varied; predict for each of a plurality of applied instrument drive forces a resultant spread angle between the first end effector element and the second end effector element in dependence on a measured position of each of the one or more interface elements when that instrument drive force is applied; determine for each of the plurality of predicted resultant spread angles an instrument stiffness value using a derivative of the applied instrument drive force with respect to the predicted resultant spread angle at that predicted resultant spread angle; determine a spread offset value in dependence on the plurality of determined instrument stiffness values; and control the surgical robot arm to drive the robotic surgical instrument in dependence on the spread offset value.

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