US Patent 11540890 Haptic user interface for robotically controlled surgical instruments

A powered user interface for a robotic surgical system having a manipulator and a surgical instrument mounted to the manipulator includes a base and a linkage assembly that includes two two-bar linkage mechanisms. The linkage assembly is rotatably mounted to the base at a base joint, and a handle mounted to each of the two-bar linkage mechanisms. Sensors and actuators are arranged to measure and actuate the position and orientation of the user interface.