Robotic hand-held surgical instrument systems and methods

A hand-held robotic surgical instrument for use with a tool to perform surgery, the robotic instrument comprising;

• a hand-held portion to be held by a user;
• a tool support coupled to the hand-held portion, the tool support comprising a tool drive motor to drive motion of the tool;
• an actuator assembly to move the tool support to move the tool in a plurality of degrees of freedom relative to the hand-held portion, the actuator assembly including a plurality of actuator with at least one actuator interconnecting the tool support and the hand-held portion, each actuator including a motor;
• a controller mounted to the tool support, the controller in communication with the tool drive motor and each motor of the plurality of actuators;
• an input module mounted to the hand-held portion, the input module including:
• a trigger movable relative to the hand-held portion;
• a trigger sensor that outputs a signal representative of a trigger position;
• and
• a flexible conductor extending from the controller to the trigger sensor;
• a tensioning assembly comprising:
• a housing;
• a tension member pivotably coupled to the housing;
• and
• a guide member within the housing, the guide member having a curvature that is concentric to a movement of the tension member;
• wherein the tension member is configured to apply load to a portion of the flexible conductor located between the tool support and the trigger sensor to control tension on to the flexible conductor while the tool support moves in the plurality of degrees of freedom relative to the hand-held portion.

A hand-held robotic surgical instrument for use with a tool to perform surgery, the robotic instrument comprising;

• a hand-held portion to be held by a user;
• a tool support coupled to the hand-held portion, the tool support comprising a tool drive motor to drive motion of the tool;
• an actuator assembly to move the tool support to move the tool in a plurality of degrees of freedom relative to the hand-held portion, the actuator assembly including a plurality of actuator with at least one actuator interconnecting the tool support and the hand-held portion, each actuator including a motor;
• a controller mounted to the tool support, the controller in communication with the tool drive motor and each motor of the plurality of actuators;
• an input module mounted to the hand-held portion, the input module including:
• a trigger movable relative to the hand-held portion;
• a trigger sensor that outputs a signal representative of a trigger position;
• and
• a flexible conductor extending from the controller to the trigger sensor;
• a tensioning assembly to control tension on to the flexible conductor while the tool support moves in the plurality of degrees of freedom relative to the hand-held portion, the tensioning assembly comprising:
• a pivotable swing arm in contact with and configured to apply load to a portion of the flexible conductor;
• a guide member having a curvature that is concentric to a movement of the swing arm.