Abstract: A robotic surgical instrument comprising: an end effector with opposing first and second end effector elements, each end effector element comprising a first portion for enabling rotation of that end effector element about a respective joint and a second portion with a surface configured to interface with a corresponding surface of the opposing end effector element; and an articulation comprising: a first joint permitting rotation of the first end effector element about a first axis; a second joint permitting rotation of the second end effector element about a second axis; and a supporting body comprising opposing first and second tines within which the first portions of the first and second end effector elements are permitted to rotate; wherein the first portion of the first end effector element is proximal to the first tine, and the second portion of the first end effector element is proximal to the second tine.

Abstract: A control system configured to control manipulation of a surgical instrument in response to manipulation of a remote surgeon input device, the surgical instrument comprising opposable first and second end effector elements connected to a shaft by an articulated coupling, the articulated coupling comprising a first joint driveable by a first pair of driving elements so as to permit the first end effector element to rotate, and a second joint driveable by a second pair of driving elements so as to permit the second end effector element to rotate, the control system configured to: detect a change of configuration of the surgeon input device to a gripping configuration at time t; respond to the change of configuration of the surgeon input device to the gripping configuration by commanding gripping forces to be applied to the first and second pairs of driving elements, so as to cause the first and second end effector elements to rotate in opposing rotational directions towards each other with a gripping closing fo

Abstract: A robotic surgical instrument comprising: a shaft; an end effector comprising a first end effector element with a first surface and a second end effector element with a second surface configured to interface with the first surface; and an articulation connecting the end effector to the shaft, the articulation permitting the first end effector element to rotate about a first axis and the second end effector element to rotate about a second axis, the first and second axes being transverse to the longitudinal axis of the shaft; wherein, when the end effector is aligned with the shaft and the first and second surfaces are interfaced, the orientation of the first surface, relative to the first axis, is greater than zero degrees.

Abstract: A method of calibrating an instrument interface of an instrument in a surgical robotic system, the surgical robotic system comprising a robot having a base and an arm extending from the base to a drive assembly for engaging with the instrument interface to transfer drive to the instrument, the instrument interface being configured to drive joints of the instrument via driving elements, the method comprising: obtaining usage data indicative of usage of a joint of the instrument; comparing the usage data with one or both of a maximum range of joint movement of the joint and a model of expected joint movement of the joint; determining, from the comparison, a calibration offset to adjust a control relationship of a driving element arranged to drive the joint; and adjusting the control relationship of the driving element using the calibration offset so as to calibrate is the instrument interface.

Abstract: A control system for controlling manipulation of a surgical instrument in response to manipulation of a remote surgeon input device. The surgical instrument comprises opposable first and second end effector elements connected to a shaft by an articulated coupling.