A surgical system for control of a surgical mechanical arm, which system comprises: at least one input arm comprising: a first section rotatable about a first section axis; a second section rotatable about a second section axis; a first bendable joint coupling said first and said second sections, where said first section axis and said second section axis are not collinear, for all angles of bending of said first bendable joint; at least one sensor configured to measure movement of one or more of said sections; and circuitry configured to receive a measurement signal from said at least one sensor and to generate a control signal, based on said measurement signal for control of movement of said surgical mechanical arm.

Apparatus and related methods for assisting tool use includes one or more motors, a wrist support and a shaft coupled to the one or more motors. The shaft includes a coupling to couple to a tool to enable a user resting a hand with the wrist on the wrist support to hold and manipulate the tool with one or more fingers. The apparatus can include a controller configured to: receive position data indicative of a position of an active end of the tool; receive constraint data indicative of one or more regions of space in which the active end should not be positioned; and process the position and constraint data to control the one or more motors to bias the active end out of a region indicated by the constraint data when a position indicated by the position data is within the region indicated by the constraint data.

Apparatus and related methods for assisting tool use includes one or more motors, a wrist support and a shaft coupled to the one or more motors. The shaft includes a coupling to couple to a tool to enable a user resting a hand with the wrist on the wrist support to hold and manipulate the tool with one or more fingers. The apparatus can include a controller configured to: receive position data indicative of a position of an active end of the tool; receive constraint data indicative of one or more regions of space in which the active end should not be positioned; and process the position and constraint data to control the one or more motors to bias the active end out of a region indicated by the constraint data when a position indicated by the position data is within the region indicated by the constraint data.

An adjustable arm support for a surgical robotic system, the arm support comprising: a fixed armrest portion that is fixedly coupled to a console seat of the surgical robotic system; and an adjustable armrest portion that is adjustably coupled to the fixed armrest portion, the adjustable armrest portion.

An adjustable arm support for a surgical robotic system, the arm support comprising: a fixed armrest portion that is fixedly coupled to a console seat of the surgical robotic system; and an adjustable armrest portion that is adjustably coupled to the fixed armrest portion, the adjustable armrest portion.

Operating room tables have limited height adjustment capability. To adequately treat a patient, surgeons often have to risk back injury and/or stand on rickety piles of prior art step stools, which is unsafe and can compromise sterility. Here, a computer-processor-controlled, motorized, surgical step-platform device is disclosed. The device is configured to have dimensions similar to a step stool. The device is configured to easily slide across a floor to an operating table. Then, often by remote control from a Smartphone, the device can vacuum affix itself into position and automatically raise between 5 to 18 inches above the floor. The device has sophisticated rechargeable battery power management and further accommodates wired, and wireless foot switches to control nearby surgical equipment.

Operating room tables have limited height adjustment capability. To adequately treat a patient, surgeons often have to risk back injury and/or stand on rickety piles of prior art step stools, which is unsafe and can compromise sterility. Here, a computer-processor-controlled, motorized, surgical step-platform device is disclosed. The device is configured to have dimensions similar to a step stool. The device is configured to easily slide across a floor to an operating table. Then, often by remote control from a Smartphone, the device can vacuum affix itself into position and automatically raise between 5 to 18 inches above the floor. The device has sophisticated rechargeable battery power management and further accommodates wired, and wireless foot switches to control nearby surgical equipment.

A master workstation for a surgical robotic system suitable for being located within a sterile operatory field includes an ungrounded master input handle, suitable for being hand held by a surgeon during surgery for controlling a slave robotic assembly of the surgical robotic system; a console including at least one convex body; a sterile drape draping at least a portion of the console; at least one sterile holder having at least one cavity; at least one resting element within the cavity suitable for the master input handle to rest thereon; and at least one positioning clip engaged with the at least one convex body of the console across and through the sterile drape while preserving the integrity of the sterile drape. The positioning clip is suitable for positioning the cavity of the sterile holder at a desired location near the console and within the sterile operatory field.

A master workstation for a surgical robotic system suitable for being located within a sterile operatory field includes an ungrounded master input handle, suitable for being hand held by a surgeon during surgery for controlling a slave robotic assembly of the surgical robotic system; a console including at least one convex body; a sterile drape draping at least a portion of the console; at least one sterile holder having at least one cavity; at least one resting element within the cavity suitable for the master input handle to rest thereon; and at least one positioning clip engaged with the at least one convex body of the console across and through the sterile drape while preserving the integrity of the sterile drape. The positioning clip is suitable for positioning the cavity of the sterile holder at a desired location near the console and within the sterile operatory field.