Robotic hand-held surgical instrument system and method

A system including a robotic instrument for use with a tool is provided. In some forms, a robotic instrument includes a handheld portion for retention by a user and a tool support movably coupled to the handheld portion to support a tool. The robotic instrument also includes an actuator assembly operatively attached to the tool support and the handheld portion and configured to move the tool support in a plurality of degrees of freedom relative to the handheld portion. The robotic instrument may include a handle alignment member extending from the handheld portion. At least a portion of the handle alignment member is aligned with a tool plane defined by the tool when the tool support has an optimal range of motion relative to the handheld portion. 提供了一种包括与工具一起使用的机器人器械的系统。在一些形式中，机器人器械包括用于由用户保持的手持部分和可移动地联接到手持部分以支撑工具的工具支撑。机器人器械还包括致动器组件，其操作地附接到工具支撑和手持部分并且被配置成使工具支撑相对于手持部分在多个自由度上移动。机器人器械可包括从手持部分延伸的柄部对准构件。当工具支撑相对于手持部分具有最佳运动范围时，柄部对准构件的至少一部分和由工具限定的工具平面对准。