US Patent 12070284 Systems and methods for handheld robotic surgery

A method includes providing a handheld manipulator, a surgical tool coupled to the handheld manipulator, and a mechanical arm, affecting, with the handheld manipulator connected to the mechanical arm, motion of the surgical tool by operating a motor of the handheld manipulator, and affecting, with the handheld manipulator disconnected from the mechanical arm, the motion of the surgical tool by operating the motor of the handheld manipulator.