A system and a method for controlling a system are described. The system includes a plurality of sensors configured to be worn on a user's body. The plurality of sensors are configured to generate a plurality of signals in response to forces applied by corresponding portions of a user's body. The system also includes a processor configured to receive the plurality of signals. The processor is configured to identify commands from the user based at least partly on the plurality of signals and an operational range and/or null space of the plurality of signals for a task being performed by the user. The processor is configured to control an operation of the system based on the identified commands.

Apparatus and methods are described including a robotic system configured for performing intraocular surgery. During a training stage, a computer processor receives programming instructions for performing one or more steps of cataract surgery in an automated manner, based upon standard ranges of dimensions of respective portions of a human eye. During a subsequent stage, the computer processor drives the robotic system to perform the one or more steps of cataract surgery on an eye of a given patient, by receiving at least one image of the eye, determining one or more dimensions of the eye from the at least one image, and performing the one or more steps of cataract surgery based upon the programming instructions and the determined dimensions of the eye. Other applications are also described.

Apparatus and methods are described including a robotic system configured for performing intraocular surgery. During a training stage, a computer processor receives programming instructions for performing one or more steps of cataract surgery in an automated manner, based upon standard ranges of dimensions of respective portions of a human eye. During a subsequent stage, the computer processor drives the robotic system to perform the one or more steps of cataract surgery on an eye of a given patient, by receiving at least one image of the eye, determining one or more dimensions of the eye from the at least one image, and performing the one or more steps of cataract surgery based upon the programming instructions and the determined dimensions of the eye. Other applications are also described.

A safety switch device including a device main body, a movable portion movable in a moving direction with respect to the device main body, and a holding portion configured to hold the movable portion at a position in the moving direction. The device main body includes a main-body-side holding portion, the movable portion includes a movable-portion-side holding portion provided so as to be opposite to the main-body-side holding portion in the moving direction, the holding portion includes a rack gear provided in one of the device main body and the movable portion, an engaging tooth member provided in the other of the device main body and the movable portion so as to be movable in a direction intersecting the moving direction, and an springy member that urges the engaging tooth member in a direction in which the engaging tooth member meshes with the rack gear.

A safety switch device including a device main body, a movable portion movable in a moving direction with respect to the device main body, and a holding portion configured to hold the movable portion at a position in the moving direction. The device main body includes a main-body-side holding portion, the movable portion includes a movable-portion-side holding portion provided so as to be opposite to the main-body-side holding portion in the moving direction, the holding portion includes a rack gear provided in one of the device main body and the movable portion, an engaging tooth member provided in the other of the device main body and the movable portion so as to be movable in a direction intersecting the moving direction, and an springy member that urges the engaging tooth member in a direction in which the engaging tooth member meshes with the rack gear.

A robotic surgical system has a user interface with a control arm that includes a passive axis system for maintaining degrees-of-freedom of a gimbal rotatably supported on the control arm as the gimbal is manipulated during a surgical procedure. The control arm includes a swivel member, a first member, and a second member. The swivel member is rotatable about a first axis. The first member rotatably coupled to the swivel member about a second axis that is orthogonal to the first axis. The second member rotatably coupled to the first member about a third axis that is parallel to the second axis. The gimbal rotatably supported by the second member about a fourth axis that is orthogonal to the third axis. The passive axis system correlating rotation of the swivel member about the first axis with rotation of the gimbal about the fourth axis.

A reaching and grabbing tool is provided. The tool includes a trigger assembly having a trigger and a handle. A jaw assembly is provided having at least one jaw operably connected to the trigger to move the at least one jaw. A hinge assembly is disposed between the trigger assembly and the jaw assembly, the hinge assembly being selectively lockable between an operating position and a folded position.

A reaching and grabbing tool is provided. The tool includes a trigger assembly having a trigger and a handle. A jaw assembly is provided having at least one jaw operably connected to the trigger to move the at least one jaw. A hinge assembly is disposed between the trigger assembly and the jaw assembly, the hinge assembly being selectively lockable between an operating position and a folded position.

A robotic surgical system includes a robotic surgical assembly and a control assembly. The robotic surgical assembly includes a robotic actuation assembly, a processing device, and a first communication device. The robotic actuation assembly includes a robotic arm. The processing device is configured to instruct the robotic actuation assembly to perform a task based on a set of instructions. The first communication device is operable to transfer the set of instructions to the processing device. The control assembly includes a second communication device and a user input device. The second communication device is operable to communicate the set of instructions to the first communication device. The user input device assembly is configured to generate the set of instructions and send the set of instruction to the second communication device. At least a portion of the instructions are based on positioning of the user input device within three-dimensional space.

A robotic surgical system includes a robotic surgical assembly and a control assembly. The robotic surgical assembly includes a robotic actuation assembly, a processing device, and a first communication device. The robotic actuation assembly includes a robotic arm. The processing device is configured to instruct the robotic actuation assembly to perform a task based on a set of instructions. The first communication device is operable to transfer the set of instructions to the processing device. The control assembly includes a second communication device and a user input device. The second communication device is operable to communicate the set of instructions to the first communication device. The user input device assembly is configured to generate the set of instructions and send the set of instruction to the second communication device. At least a portion of the instructions are based on positioning of the user input device within three-dimensional space.