SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR

摘要

In various forms, a sensor-straightened end effector 5802 is disclosed. The sensor-straightened end effector may comprise an end effector coupled to a shaft 5831 at an articulation point. The end effector may be articulable at an angle with respect to the shaft. A sensor 5826 may be disposed on the sensor-straightened end effector, such as on the shaft or on the end effector. The sensor is configured to detect a gross proximal movement. When detecting a gross proximal movement, the sensor may generate a signal to control a motor 402 to begin a straightening process to straighten the end effector with respect to the shaft.