Patent attributes
Systems and methods for articulation calibration of a surgical tool configured to be coupled to a robotic surgical system are provided. The tool including a tool shaft with an end effector has at least one linkage member extending along the shaft and operably coupled to the end effector such that force selectively applied to the linkage member is able to cause articulation of the end effector. The tool can also include a homing mechanism. To perform articulation calibration of the end effector, it can be constrained, force can be applied to the linkage member to attempt articulation of the end effector until a resistance against further articulation exceeds a threshold, and a home position of the end effector can be determined based on a force at which the resistance has exceeded the threshold.
