Robotic trajectory axis adjustment interface

A robotic surgical system including a robotic arm, the robotic surgical system comprising:

• a handgrip supported by the robotic arm the handgrip having a first trajectory button and a second trajectory button;
• a tool guide supported by the handgrip the tool guide comprising a tool support having a first end, a second end, an aperture extending through the tool support from the first end to the second end, and a longitudinal axis extending through a center of the aperture from the first end to the second end;
• a navigation system configured to track a position and orientation of the tool guide relative to the patient;
• and
• a controller in communication with servos of the robotic arm the navigation system and the handgrip, the controller having a non-transitory computer readable memory and a processor, the non-transitory computer readable memory storing at least one planned trajectory associated with a surgical procedure and processor executable instructions that, when executed, cause the processor to receive the position and orientation of the tool guide relative to the patient from the navigation system and pass a first signal to at least one servo of the robotic arm causing the robotic arm (104) to position the tool support at a predetermined distance from a patient with the longitudinal axis of the tool support substantially coaxially aligned with the at least one planned trajectory;
• wherein the first trajectory button when engaged, is configured to pass a second signal to the processor of the controller causing the processor of the controller to actuate at least one servo of the robotic arm to move the tool support away from the patient along the at least one planned trajectory keeping the longitudinal axis of the tool support substantially coaxially aligned with the at least one planned trajectory and
• the second trajectory button when engaged, is configured to pass a third signal to the processor of the controller causing the processor of the controller to actuate at least one servo of the robotic arm to move the tool support toward the patient along the at least one planned trajectory keeping the longitudinal axis of the tool support substantially coaxially aligned with the at least one planned trajectory.