A combined teleoperative-cooperative controllable robotic system includes a robotic actuator assembly, a control system adapted to communicate with the robotic actuator assembly, and a teleoperation unit adapted to communicate with the control system. The control system is configured to control at least a first portion of the robotic actuator assembly in response to at least one of a force or a torque applied to at least a second portion of the robotic actuator assembly by a first user for cooperative control. The control system is further configured to control at least a third portion of the robotic actuator assembly in response to input by a second user from the teleoperation unit for teleoperative control.

A combined teleoperative-cooperative controllable robotic system includes a robotic actuator assembly, a control system adapted to communicate with the robotic actuator assembly, and a teleoperation unit adapted to communicate with the control system. The control system is configured to control at least a first portion of the robotic actuator assembly in response to at least one of a force or a torque applied to at least a second portion of the robotic actuator assembly by a first user for cooperative control. The control system is further configured to control at least a third portion of the robotic actuator assembly in response to input by a second user from the teleoperation unit for teleoperative control.

A system for remote object handling including a public safety vehicle having a front portion. An articulated arm has a first end and a second end distinct from the first end, the arm being coupled to the front portion at the first end, and has at least one pivot disposed between the first end and the second end. A gripping element is removably coupled to the second end, wherein the gripping element is one of a pincer device, a hand device having at least three fingers or a shovel. A video camera is also coupled to the second end. An arm control is disposed within the vehicle and is operable to control the operation of the arm, the manipulator and the video camera, and a video interface is coupled to the video camera which is operable to display output from the video camera.

A system for remote object handling including a public safety vehicle having a front portion. An articulated arm has a first end and a second end distinct from the first end, the arm being coupled to the front portion at the first end, and has at least one pivot disposed between the first end and the second end. A gripping element is removably coupled to the second end, wherein the gripping element is one of a pincer device, a hand device having at least three fingers or a shovel. A video camera is also coupled to the second end. An arm control is disposed within the vehicle and is operable to control the operation of the arm, the manipulator and the video camera, and a video interface is coupled to the video camera which is operable to display output from the video camera.

A master console includes handles configured to control robotic surgical instruments of a slave robot, force/torque detectors configured to detect forces applied to the handles by an operator, a force compensator configured to generate force control signals that cancel out the forces applied to the handles by the operator, and a master controller configured to drive at least one joint of each of the handles in order to control motion of the handles based on motion control signals and the generated force control signals.

A master console includes handles configured to control robotic surgical instruments of a slave robot, force/torque detectors configured to detect forces applied to the handles by an operator, a force compensator configured to generate force control signals that cancel out the forces applied to the handles by the operator, and a master controller configured to drive at least one joint of each of the handles in order to control motion of the handles based on motion control signals and the generated force control signals.

Provided is a parallel link device that has an RCM structure and can drive translation and rotation independently.

The parallel link device includes: an actuation unit that has a base portion, an end portion, and a plurality of link portions configured to couple the base portion and the end portion and drives the link portion using a first actuator mounted on the base portion to actuate the end portion with respect to the base portion; and a transmission unit that transmits drive of a second actuator mounted on the base portion to a mechanism portion mounted on the end portion along each of at least two of the plurality of link portions.

A medical instrument for surgery includes at least one frame and at least one jointed device. The jointed device includes at least one first joint member, or first link, adapted to connect to at least one portion of the frame and at least one second joint member, or second link. The first joint member is connected by a rotational joint to the second joint member. The medical instrument includes at least a pair of tendons, adapted to move the second joint member with respect to the first joint member. Each of the first joint member and the second joint member includes a main structural body made in a single piece with one or more convex contact surfaces. Each of the convex contact surfaces is a ruled surface formed by straight line portions all parallel to each other and substantially parallel to a joint movement axis.

A medical instrument for surgery includes at least one frame and at least one jointed device. The jointed device includes at least one first joint member, or first link, adapted to connect to at least one portion of the frame and at least one second joint member, or second link. The first joint member is connected by a rotational joint to the second joint member. The medical instrument includes at least a pair of tendons, adapted to move the second joint member with respect to the first joint member. Each of the first joint member and the second joint member includes a main structural body made in a single piece with one or more convex contact surfaces. Each of the convex contact surfaces is a ruled surface formed by straight line portions all parallel to each other and substantially parallel to a joint movement axis.

A teleoperational system receives a movement command in response to movement of an input device, in response to determining an instrument is being controlled based on the movement of the input device, maps the movement command to a first movement of the instrument in an instrument frame using a first mapping, and in response to determining a tissue probe is being controlled based on the movement of the input device, maps the movement command to a second movement of the tissue probe in a tissue probe frame using a second mapping. The first mapping maps motion in an input direction in the input frame to an instrument direction in the instrument frame. The second mapping maps motion in the input direction to a tissue probe direction in the tissue probe frame. The instrument direction corresponding with the input direction. The tissue probe direction not corresponding with the input direction.