Control console including an input arm for control of a surgical mechanical arm

1. A surgical system comprising:

a surgical mechanical arm comprising a plurality of surgical arm sections sequentially coupled by surgical arm joints;

an input arm comprising:

a plurality of input arm sections sequentially coupled by input arm joints; and

an elongate handle:

sized and shaped to be held between a human adult's thumb and one or more finger, where a maximum dimension of said handle perpendicular to a handle long axis is 5 mm-15 mm and a long axis length of said handle is 20-200 mm;

coupled to a distal end of said input arm by a flexion joint;

extending proximally with respect to a most distal input arm section so that a user grasping said handle bends said flexion joint to hold said handle above other portions of the input arm;

at least one sensor configured to measure movement of one or more of said sections; and

circuitry configured to receive a measurement signal from said at least one sensor and to generate a control signal, based on said measurement signal for control of movement of said surgical mechanical arm;

wherein one or more of said plurality of sections are sized such that a user holding said elongate handle is able to support one or more section with the user's palm of the hand holding the handle;

wherein a portion of said input arm includes a protrusion which protrudes from a body of said input arm, said protrusion at a distance from said handle and sized and shaped to be held in a user's palm of a hand holding the handle; and

wherein said protrusion is at least a portion of a flexion joint.

2. The surgical system according to claim 1 , wherein said input arms sections are alternatively coupled by rotational and flexion joints.

3. The surgical system according to claim 2 , wherein said flexion joints are bendable in a single bending plane.

4. The surgical system according to claim 3 , wherein one or more of said flexion joints is bendable by at least 120°.

5. The surgical system according to claim 3 , wherein one or more of said flexion joints is bendable by at least 180°.

6. The surgical system according to claim 3 , wherein said flexion joints are bendable in one rotational direction about said single bending plane from a straight configuration.

7. The surgical system according to claim 1 , wherein said input arm includes a first flexion joint, a second flexion joint, a first rotational joint and a second rotational joint.

8. The surgical system according to claim 7 , wherein said flexion joints are each bendable by at least 120°.

9. The surgical system according to claim 1 , wherein said handle extends proximally with respect to a most distal input arm section.

10. The surgical system according to claim 1 , wherein said handle extends towards a most distal input arm joint.

11. The surgical system according to claim 10 , wherein said most distal input arm joint is a flexion joint.

12. The surgical system according to claim 1 , wherein a long axis length of said handle is 30-100% of a maximum length of said input arm.

13. The surgical system according to claim 1 , wherein said at least one sensor comprises a magnetic sensor configured to measure movement of a magnet mounted on one of said portions.

14. The surgical system of claim 1 , comprising two surgical mechanical arms controlled by movement of two input arms respectively.

15. The surgical system of claim 1 , wherein a weight is attached to one of said plurality of input arm sections which biases said one of said plurality of sections to a null configuration, by movement under gravity.

16. The surgical system of claim 1 , wherein said circuitry is configured to send one or more signals instructing to hold or lock said input arm in a last position before user release.