Motion capture controls for robotic surgery

A control system for a robotic surgical tool, the control system comprising:

• an untethered handpiece, comprising:
• a body;
• an actuator extending from the body;
• a rotatable shaft extending from the body;
• and
• a plurality of sensors comprising a body sensor embedded in the body and configured to detect motion of the body in three-dimensional space, a force sensor configured to detect forces applied to the actuator, and a shaft sensor configured to detect rotary displacement of the shaft relative to the body;
• a tissue identification system configured to identify an obscured tissue boundary;
• a proximity detection system configured to intraoperatively detect a distance of the robotic surgical tool to the obscured tissue boundary;
• and
• a control circuit communicatively coupled to the plurality of sensors, the tissue identification system, and the proximity detection system, the control circuit configured to:
• receive, intraoperatively, imaging signals from the tissue identification system;
• process, intraoperatively, the imaging signals to intraoperatively identify an obscured tissue boundary, wherein the obscured tissue boundary is obscured from a clinician's view;
• receive, intraoperatively, proximity signals from the proximity detection system, wherein the proximity signals are indicative of the distance of the robotic surgical tool to the obscured tissue boundary;
• receive, intraoperatively, input control signals from the plurality of sensors;
• switch between a first mode and a second mode in response to receiving a proximity signal indicating the distance of the robotic surgical tool to the obscured tissue boundary being reduced to less than a threshold distance;
• provide first motion control signals to the robotic surgical tool based on the input control signals from the force sensor in the first mode, wherein the first motion control signals are scaled based on the proximity signal;
• and
• provide second motion control signals to the robotic surgical tool based on the input control signals from the body sensor and the shaft sensor in the second mode.

A control system for a robotic surgical tool, the control system comprising:

• an untethered handpiece, comprising:
• a body;
• an actuation arm extending proximally from the body;
• a shaft extending distally from the body;
• and
• a plurality of sensors comprising a body sensor embedded in the body and configured to detect motion of the body in three-dimensional space, an arm sensor configured to detect forces applied to the actuation arm, and a shaft sensor configured to detect rotary displacement of the shaft relative to the body;
• and
• a control circuit communicatively coupled to the plurality of sensors, a tissue identification system, and a proximity detection system, the control circuit configured to:
• receive, intraoperatively, imaging signals from the tissue identification system;
• process, intraoperatively, the imaging signals to intraoperatively identify an obscured tissue boundary, wherein the obscured tissue boundary is obscured from a clinician's view;
• receive, intraoperatively, proximity signals from the proximity detection system, wherein the proximity signals are indicative of a distance of the robotic surgical tool to the obscured tissue boundary;
• receive, intraoperatively, input control signals from the plurality of sensors;
• switch between a gross motion mode and a precision motion mode in response to receiving a proximity signal indicating the distance of the robotic surgical tool to the obscured tissue boundary being reduced to less than a threshold distance;
• provide first output control signals to the robotic surgical tool based on the input control signals from the arm sensor in the gross motion mode;
• and
• provide second output control signals to the robotic surgical tool based on the input control signals from the body sensor and the shaft sensor in the precision motion mode.

A control system for a robotic surgical tool, the control system comprising:

• an untethered handpiece, comprising:
• a gross motion controller comprising a multi-axis sensor;
• a precision motion controller comprising an embedded motion sensor;
• and
• a control circuit communicatively coupled to the multi-axis sensor, the embedded motion sensor, a tissue identification system, and a proximity detection system, the control circuit configured to:
• receive, intraoperatively, imaging signals from the tissue identification system;
• process, intraoperatively, the imaging signals to intraoperatively identify an obscured tissue boundary, wherein the obscured tissue boundary is obscured from a clinician's view;
• receive, intraoperatively, proximity signals from the proximity detection system indicative of a distance of the robotic surgical tool to the obscured tissue boundary;
• and
• switch between a gross motion mode, in which input control signals from the gross motion controller are utilized to control the robotic surgical tool, and a precision motion mode, in which input control signals from the precision motion controller are utilized to control the robotic surgical tool, in response to receiving a proximity signal indicating the distance of the surgical tool to the obscured tissue boundary being reduced to less than a threshold distance.