Robotic Hand-Held Surgical Instrument Systems And Methods

A hand-held surgical robotic system for supporting a tool, the hand-held surgical robotic system comprising:

• a hand-held portion;
• a tool support movably coupled to the hand-held portion and defining a tool support plane;
• an actuator assembly operatively attached to the tool support and the hand-held portion, the actuator assembly configured to move the tool support relative to the hand-held portion in a plurality of degrees of freedom, the actuator assembly including a plurality of actuators, and each of the plurality of actuators configured to move between a first position and a second position to move the tool support relative to the hand-held portion;
• and
• a shroud coupled to and extending between the tool support and the hand-held portion such that the shroud surrounds at least one of the plurality of actuators;
• wherein the shroud comprises at least two creases formed between the hand-held portion and the tool support, each of the at least two creases defining a plane configured to be displaced relative to one another when the tool support is manipulated relative to the hand-held portion;
• wherein an orientation of the planes is configured to provide a visual indication of a pose of the tool support relative to the hand-held portion.

A hand-held surgical robotic system for supporting a tool, the hand-held surgical robotic system comprising:

• a hand-held portion;
• a tool support movably coupled to the hand-held portion and defining a tool support plane;
• an actuator assembly operatively attached to the tool support and the hand-held portion, the actuator assembly configured to move the tool support relative to the hand-held portion in a plurality of degrees of freedom, the actuator assembly including a plurality of actuators, and each of the plurality of actuators configured to move between a first position and a second position to move the tool support relative to the hand-held portion;
• and
• a shroud coupled to and extending between the tool support and the hand-held portion such that the shroud surrounds at least one of the plurality of actuators;
• wherein the shroud defines at least two shroud landmarks configured to displace relative to each other when the tool support and the hand-held portion are misaligned to each other to provide visual indication of a pose of the tool support relative to the hand-held portion.