A handheld microsurgical robot according to an embodiment of the present disclosure includes a tool, and a driving mechanism configured to detachably fix the tool and operate the tool, wherein the driving mechanism includes a platform supporting the tool, a plurality of driving assemblies connected to the platform and configured to operate the platform; and a base configured to fix the plurality of driving assemblies, wherein each of the plurality of driving assemblies is capable of a linear motion with respect to the base and is capable of a rotational motion with respect to the base, wherein a position and an angle of the platform with respect to the base are controlled by the linear motion of each of the plurality of driving assemblies.

An apparatus includes a base portion configured to selectively couple with a robotic arm. A shaft extends distally form the base portion and terminates into a distal end. A sleeve is slidably coupled to the shaft. A colpotomy cup is fixedly secured to a portion of the sleeve. One or more sensors are configured to detect a force applied to the sleeve, the shaft, or both the sleeve and the shaft.

A teleoperative system includes an input device and a controller. The controller is configured to receive input associated with movement of the input device, determine a commanded pose of an instrument coupled to the teleoperative system based on the received input, determine a first preferred pose of the instrument based on at least one parameter selected from a group consisting of: a type of the instrument and an operating mode of the instrument, determine a first feedback force command based on a difference between the commanded pose and the first preferred pose, and actuate the input device based on the first feedback force command.

An input device for controlling operation of a robotic arm may include a grasper that includes a first finger pad. The first finger pad may include a first set of two or more electrodes for determining user presence at the first finger pad. The input device may also include a processor for modifying operation of the robotic arm in response to information from the input device in accordance with a determination of the user presence at the first finger pad. A method for operating a surgical tool via the input device is also disclosed herein.

Systems and methods for minimally invasive tele-surgery are described. For example, the disclosure describes methods for independently controlling motions of the robotic manipulator, cannula, and surgical instrument in various surgical contexts.

A hand controller apparatus for controlling a tool in a robotic surgery system has a body with a proximal end and a distally located interface end that can be coupled to an input apparatus for controlling a surgical tool. The hand controller apparatus includes a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The control lever includes a tail region adjacent to the pivot joint and a paddle region connected to the tail region and extending toward the distally located interface end. The tail region includes an inner surface facing the body and an outer surface opposing the inner surface, and at least part of the outer surface of the tail region is outwardly curved.

A deformable segment with combined motion includes a flexible center backbone, the tendons of deformable segment with combined motion, a connecting piece, a proximal disk and a distal disk. The proximal end of the flexible center backbone and the proximal ends of the tendons of deformable segment with combined motion are fixedly connected to the proximal disk. The distal ends of the tendons of deformable segment with combined motion are fixedly connected to the distal disk. The distal end of the flexible center backbone penetrates through the distal disk and then extends into the distal execution segment, and is connected with the end-effector. The deformable segment with combined motion is provided with the connecting piece. The proximal driving segment is provided with proximal driving tendons. The proximal driving tendons penetrate through the proximal disk, and then are fixedly connected with the connecting piece.

A robotic surgical system is disclosed including an end effector movable relative to a tissue of a patient. The robotic surgical system further includes a control circuit configured to determine a distance between the end effector and the tissue and cause the end effector to be transitioned between a locked configuration and an unlocked configuration based on the distance.

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An end effector of the surgical tool is coupled to a tool driver. An actuator is driven by a motor of the tool driver and configured to drive a degree of freedom of the end effector. One or more processors are configured to receive a position command describing a desired position for the end effector, translate the desired position to a command for a joint associated with the end effector, calculate a compensation term to compensate for a source of hysteresis for backlash and/or compliance, and send a motor command for the motor coupled with the actuator based on the compensation term and the command for the end effector.

Techniques for grasp adjustment include a computer-assisted device comprising a repositionable structure configured to support an end effector and one or more processors. The one or more processors are configured to receive one or more images of the end effector; determine, based on the one or more images, at least one of a first length between a proximal end of jaws of the end effector and a proximal end of a grasping zone, a second length corresponding to a length of the grasping zone, a third length between a distal end of the grasping zone and the distal end of the at least one jaw; or an angle between the jaws of the end effector; and adjust a force or a torque magnitude limit used to limit actuation of the end effector based on at least one of the first length, the second length, the third length, or the angle.