Device and method for controlled motion of a tool

Abstract

The present embodiments relate to operator control in a master-slave robotic system, including, but not limited to, wherein an operator uses a master control input device to guide the position and orientation of a tool that is driven by the robotic system. Embodiments described herein provide devices and methods of increasing precision control for complex motions by, for example, decoupling operator control of rotational and translational movement.

1 - 51 . (canceled) 
     
     
         52 . A device comprising at least one controller, at least one sensor assembly, a processor, and end effector, wherein:
 the at least one controller is operatively connected to the at least one sensor assembly;   the processor is operatively connected to the at least one controller, the at least one sensor assembly, and the end effector;   the at least one sensor assembly is configured to receive one or more inputs from the controller and send one or more outputs to the processor; and   the processor provides a rotational output command, a translational output command, or both, to the end effector.   
     
     
         53 . The device of  claim 52 , further comprising at least one switch, wherein the at least one switch is operatively connected to the processor, and wherein the at least one switch controls the rotational output command, the translational output command, or both. 
     
     
         54 . The device of  claim 53 , wherein the at least one switch is configured to select one of the rotational command and the translation command. 
     
     
         55 . The device of  claim 52 , wherein the end effector is configured to rotate about a fixed point of rotation positioned at or approximately at the tip of the end effector.