Methods, systems, and devices for control of surgical tools in a robotic surgical system

A surgical method, comprising:

• positioning a working end of a first slave tool relative to a first target relevant to performance of a surgical procedure on a patient;
• positioning a working end of a second slave tool relative to a second target relevant to performance of the surgical procedure such that the second slave tool applies a force to the second target;
• moving a master tool electrically coupled to the first and second slave tools, the movement of the master tool when the master tool is in a first mode of operation causing corresponding movement of the first slave tool relative to the first target, and the movement of the master tool when the master tool is in a second mode of operation causing an amount of the force applied to the second target to be changed by an amount corresponding to a scale of the movement of the master tool;
• and
• swapping modes of the master tool such that the movement of the master tool when the master tool is in the first mode of operation causing corresponding movement of the second slave tool relative to the second target, and the movement of the master tool when the master tool is in the second mode of operation causing an amount of a force applied to the first target by the first slave tool to be changed by an amount corresponding to the scale of the movement of the master tool.

A surgical method, comprising:

• positioning a working end of a first slave tool relative to a first target relevant to performance of a surgical procedure on a patient;
• positioning a working end of a second slave tool relative to a second target relevant to performance of the surgical procedure such that the second slave tool applies a force to the second target;
• and
• moving a master tool electrically coupled to the first and second slave tools, the movement of the master tool when the master tool is in a first mode of operation causing corresponding movement of the first slave tool relative to the first target, and the movement of the master tool when the master tool is in a second mode of operation causing an amount of the force applied to the second target to be changed by an amount corresponding to a scale of the movement of the master tool;
• wherein the movement of the master tool is in multiple degrees of freedom, and the movement of the master tool when the master tool is in the first mode of operation causes the first slave tool to move in the multiple degrees of freedom relative to the first target, and the movement of the master tool when the master tool is in the second mode of operation does not cause the second slave tool to move in the multiple degrees of freedom relative to the second target.

A surgical method, comprising:

• positioning a working end of a first slave tool relative to a first target relevant to performance of a surgical procedure on a patient;
• positioning a working end of a second slave tool relative to a second target relevant to performance of the surgical procedure such that the second slave tool applies a force to the second target;
• and
• moving a master tool electrically coupled to the first and second slave tools, the movement of the master tool when the master tool is in a first mode of operation causing corresponding movement of the first slave tool relative to the first target, and the movement of the master tool when the master tool is in a second mode of operation causing an amount of the force applied to the second target to be changed by an amount corresponding to a scale of the movement of the master tool;
• wherein the movement of the master tool when the master tool is in the second mode of operation includes movement of the master tool translationally or rotationally, and causing the amount of the force applied to the second target to be changed includes causing the second slave tool to move in the other one of translationally and rotationally.