David W. Robinson,Gabriel F. Brisson,Amir Chaghajerdi,Pushkar Hingwe,Donald F. Wilson, Jr.
申请号：
US15774848
公开号：
US20180325611A1
申请日:
2016.11.04
申请国别(地区):
US
年份:
2018
代理人:
摘要：
Systems and related methods control movement of an end effector. A method of controlling movement of an end effector includes receiving, by a controller, a command to close or open an end effector that includes a first jaw member, a second jaw member, a wrist, and an instrument shaft. In response to the command, the controller controls movement of the end effector to simultaneously move the first jaw member relative to the second jaw member and actuate the wrist to orient the end effector so that at least one of a position and an orientation of a reference aspect of the end effector is substantially maintained in space.
