Surgical robotic system with compliance mechanism

An end effector for a surgical system, the end effector being configured to be supported by a robotic manipulator that is operated by a control system, the end effector comprising:

• a surgical tool;
• a compliance mechanism configured to enable the surgical tool to move relative to the robotic manipulator in response to external forces/torques applied to the surgical tool, the compliance mechanism comprising a stationary portion configured to couple to the robotic manipulator, a moveable portion coupled to the surgical tool, and a flexible portion disposed between the stationary portion and the moveable portion;
• and
• an input device comprising a first force/torque sensor configured to sense a force/torque applied to the input device by a user, wherein the first force/torque sensor is a one degree-of-freedom (1DOF) load cell and is mechanically isolated from the external forces/torques applied to the surgical tool, wherein the input device is configured to provide one or more signals to the control system to control 1DOF movement of the surgical tool with the robotic manipulator in an isolated manual mode, the one or more signals being generated based on the force/torque applied to the input device by the user, the applied force/torque being sensed by the first force/torque sensor.

A surgical system comprising:

• a robotic manipulator;
• a surgical tool supported by the robotic manipulator;
• a compliance mechanism configured to enable the surgical tool to move relative to the robotic manipulator in response to external forces/torques applied to the surgical tool, the compliance mechanism comprising a stationary portion coupled to the robotic manipulator, a moveable portion coupled to the surgical tool, and a flexible portion disposed between the stationary portion and the moveable portion;
• and
• an input device comprising a first force/torque sensor configured to sense a force/torque applied to the input device by a user, wherein the first force/torque sensor is a one degree-of-freedom (1DOF) load cell and is mechanically isolated from the external forces/torques applied to the surgical tool;
• and
• a control system configured to control 1DOF movement of the surgical tool with the robotic manipulator in an isolated manual mode in which the robotic manipulator is commanded based on the force/torque applied to the input device by the user, the applied force/torque being sensed by the first force/torque sensor.