We study gap formation in gaseous protoplanetary discs by a Jupiter mass planet. The planets orbit is circular and inclined relative to the midplane of the disc. We use the impulse approximation to estimate the gravitational tidal torque between the planet and the disc, and infer the gap profile. For low-mass discs, we provide a criterion for gap opening when the orbital inclination is $leq 30^{circ}$. Using the FARGO3D code, we simulate the disc response to an inclined massive planet. The dependence of the depth and width of the gap obtained in the simulations on the inclination of the planet is broadly consistent with the scaling laws derived in the impulse approximation. Although we mainly focus on planets kept on fixed orbits, the formalism permits to infer the temporal evolution of the gap profile in cases where the inclination of the planet changes with time. This study may be useful to understand the migration of massive planets on inclined orbit, because the strength of the interaction with the disc depends on whether a gap is opened or not.
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