A rotary tool includes a tool body and a powered rotary cutting tooltip that is oriented and positioned relative to the tool body by a plurality of processor-controlled actuators that provide degrees of freedom. The processor uses a surgical tracking system to identify the pose of the tool body and the tooltip relative to a patient's anatomy and controls the actuators to maintain the tooltip within a predetermined cutting plan to compensate for deviation of a surgeon's hand or a robotic arm controlling the tool body during a cutting operation.

A system includes a manually movable input control configured to generate signals when a movement of one or more mechanical degrees of freedom of the input control is detected and a control module. The control module is configured to determine whether a movement of the input control is anticipated to cause an instrument to move outside of a safe range of movement of the instrument and command the system to switch from an operating mode to a safe mode in response to determining that the movement of the input control is anticipated to cause the instrument to move outside of the safe range of movement of the instrument. The instrument is separate from the input control. In the operating mode the instrument moves in response to movement of the input control. In the safe mode the instrument does not move in response to movement of the input control.

A method for disengagement detection of a surgical instrument of a surgical robotic system, the method comprising: determining whether a user's head is unstable prior to disengagement of a teleoperation mode; determining whether a pressure release has occurred relative to at least one of a first user input device or a second user input device for controlling a surgical instrument of the surgical robotic system during the teleoperation mode; and in response to determining the user's head is unstable or determining the pressure release has occurred, determining whether a distance change between the first user input device and the second user input device indicates the user is performing an unintended action prior to disengagement of the teleoperation mode.

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.

The present disclosure provides handheld adapters allowing the use of robotic surgical instruments during standard laparoscopic phases. The handheld adapter includes a plurality of receptacles for engaging with a plurality of engagers of the surgical instrument to thereby actuate an end-effector of the surgical instrument in the close degrees of freedom via a plurality of force transmitting elements upon actuation of a trigger. The handheld adapter further includes a spring coupled to the plurality of receptacles and configured to provide a predetermined tension on the plurality of force transmitting elements, such that upon release of the trigger, the spring causes movement of the plurality of receptacles, which causes movement of the respective engagers to thereby actuate the end-effector in the open degree of freedom.

A control arm assembly for controlling a robot system includes a gimbal that is moveable and rotatable about three axes, and a handle assembly coupled to the gimbal. The handle assembly includes a body portion having a controller disposed therein and a first actuator disposed thereon. The first actuator is mechanically coupled to the controller via a four-bar linkage such that actuation of the first actuator causes mechanical movement of a component of the controller which is converted by the controller into an electrical signal.

An intelligent surgical tool control system, comprising a tool management system; an indicating means to indicate at least one surgical event; a communicable database for storing, for each item of interest, its identity, its present 3D position and at least one previous 3D position; and at least one processor to identify, from a surgical event, an output surgical procedure. The tool management system can comprise a maneuvering mechanism to maneuver a surgical tool in at least two dimensions; and a controller to control at least one of activation and deactivation of a surgical tool and articulation of a surgical tool. The indicating means can indicate a surgical event selected from movement of a moving element and presence of an item of interest, where movement is determinable if the current 3D position of the moving element is substantially different from a previous 3D position of the same.

A medical operation apparatus includes a body graspable by an operator, an operation part that is arranged to enable a part of the operation part to be moved relative to the body, and a holder that receives the fingers of the operator and transmits a movement of the fingers to the operation part. The holder includes a contact portion that comes in contact with the body, and a connector that supports a relative posture of the holder and the operation part so as to change the relative posture in accordance with a posture change of the fingers of the operator. In a relative arrangement position of the operation part and the body, when the relative posture of the holder and the operation part is changed, an amount of change in the relative arrangement position of the body and the operation part is within a specified permissible range.

A system includes a manually manipulatable component configured to generate signals when movements of the component are detected and a control module. The control module is configured to determine that there is uncontrolled movement of the component by determining that a distance of a movement of the component relative to a previous position of the component is greater than a threshold distance or determining that a first mechanical degree of freedom (DOF) of the component has moved and a second mechanical DOF of the component has not moved, and command the system to switch from an operating mode to a safe mode in response to determining that there is uncontrolled movement of the component. The previous position is associated with when a last definitive movement of the component was detected. The first mechanical DOF is affected by gravity and the second mechanical DOF is not affected by gravity.

Systems and methods for tracking unintentional muscle movements of a user and stabilizing a handheld tool while it is being used by the user are described. The method may include detecting motion of a handle of the handheld tool manipulated by a user while the user is performing a task with a user-assistive device attached to an attachment arm of the handheld tool. Furthermore, the method may include storing the detected motion in a memory of the handheld tool as motion data. The method may also include controlling, based on the motion data, a motion-generating mechanism of the handheld tool that moves the attachment arm relative to the handle in a single degree of freedom in a direction of the detected motion of the handle.