Device and method for controlled motion of a tool

A method of moving an end effector in a translational movement that is significantly free of any rotational movement or in a rotational movement that is significantly free of any translational movement, wherein a controller is operatively connected to the end effector, the method comprising:

• sensing a force and/or motion input applied to the controller via a sensor assembly;
• transmitting the force and/or motion input from the sensor assembly to a processor in communication with the sensor assembly;
• analyzing the force and/or motion input via the processor to decouple the rotational movement and the translational movement into a rotational output command and a translational output command;
• and
• transmitting the rotational output command and/or the translational output command to the end effector to move the end effector in a translational movement that is significantly free of any rotational movement or in a rotational movement that is significantly free of any translational movement;
• wherein the rotation of the end effector is about a fixed point of rotation positioned at or approximately at the tip of the end effector, and wherein the fixed point of rotation translates with the translational movement of the end effector.

A method of moving an end effector, wherein a device comprising at least a first controller and a second controller are operatively connected to the end effector, the method comprising:

• sensing a force and/or motion input applied to the first controller and the second controller via a sensor assembly;
• transmitting the force and/or motion input from the sensor assembly to a processor in communication with the sensor assembly;
• analyzing the force and/or motion input via the processor to produce a rotational movement and the translational movement from the first controller and the second controller into a first controller rotational output command, a first controller translational output command, a second controller rotational output command, and a second controller translational output command;
• and
• transmitting the first controller rotational output command and/or the first controller translational output command to the end effector to move the end effector in a translational movement that is significantly free of any rotational movement or in a rotational movement that is significantly free of any translational movement;
• and/or
• transmitting the second controller rotational output command and/or second controller the translational output command to the end effector to move the end effector in a translational movement that is significantly free of any rotational movement or in a rotational movement that is significantly free of any translational movement;
• wherein the rotation of the end effector is about a fixed point of rotation positioned at or approximately at the tip of the end effector, and wherein the fixed point of rotation translates with the translational movement of the end effector.

A device comprising a sensor assembly, a processor, an end effector comprising a pair of jaws comprising a first jaw and a second jaw, a first switch, a second switch, and a controller comprising a grip and a system of connecting elements and movable joints that allow the grip to be moved in at least six degrees of freedom where three degrees of freedom correspond to the position of the controller, and three degrees of freedom correspond to the orientation of the controller, wherein:

• the controller is operatively connected to the sensor assembly and the end effector;
• the sensor assembly is configured to receive inputs from the controller to measure the revolute movements and/or the linear movement of the controller;
• the processor is operatively connected to the sensor assembly, the first switch, the second switch, and the end effector, wherein the processor is configured to receive one or more inputs from the sensor assembly to determine the rotational movement of the controller and/or the translational movement of the controller, and to provide a rotational output command and/or a translational output command, based upon the one or more inputs, to the end effector to control rotational movement and/or translational movement of the end effector;
• the first switch controls output of the rotational output command and the second switch controls output of the translational output command;
• and
• the end effector is configured to move in a rotational movement that is significantly free of any translational movement or in a translational movement that is significantly free of any rotational movement, wherein the end effector is configured to rotate with at least two degrees of freedom about a fixed point of rotation positioned at or approximately at a point on the first jaw where the pair of jaws will contact when in a closed position, and wherein the fixed point of rotation translates with the translational movement of the end effector.