Tool exchange interface and control algorithm for cooperative surgical robots

A cooperatively controlled robot for quick release of a tool, comprising:

• a robot arm;
• a tool holder assembly operatively coupled to an end of the robot arm, the tool holder assembly comprising a tool holding element and a sensor;
• and
• a data processor in communication with the robot arm and the sensor, and
• a second sensor in communication with the robot arm and the data processor,
• wherein the tool holder assembly is configured to receive a surgical tool adapted to be simultaneously held by the cooperatively controlled robot and a surgeon,
• wherein the tool holding element constrains downward motion of the surgical tool relative to the tool holder assembly while allowing low force removal of the surgical tool from the tool holder assembly,
• wherein the sensor is configured to detect if the surgical tool is docked within the tool holder assembly,
• wherein the data processor is configured to automatically select movements or actions of the tool holder assembly to be performed by the robot arm based upon information detected by the sensor,
• wherein the second sensor is configured to detect forces exerted by the surgeon on the surgical tool or on the cooperatively controlled robot when the surgical tool is engaged in the tool holder assembly, and
• wherein the data processor automatically instructs the robot arm to retract when the second sensor detects that forces exerted by the surgeon on the surgical tool or on the cooperatively controlled robot indicate that the surgical tool is not fully engaged in the tool holder.