Abstract: A biosensing system includes a data processing module configured to process collected sensor data. The biosensing system includes a front system portion suitable for housing a VR display. A forehead portion is attached to the front system portion, the forehead portion housing one or more sensors, including: at least one electroencephalography (EEG) sensor, at least one electrodermal activity (EDA) sensor, a photoplethysmography (PPG) sensor, and/or a temperature sensor. The biosensing system includes an overhead member that connects and arches vertically over the forehead portion and a rear system portion, the overhead member comprising at least one active electrode module and at least one bone conduction module. The biosensing system includes at least one side member that connects and arches horizontally from the forehead portion to the rear portion, and comprises a headphone fixing member attached to a headphone. All sensors are connected to the data processing module.

Abstract: The teachings generally provide for a hand-held medical robotic system for use with a surgical tool, the system comprising an instrument comprising a hand-held portion, a tool support coupled to the hand-held portion, and an actuator assembly operatively interconnecting to move the tool support in a plurality of degrees of freedom to place the surgical tool and a localizer. The system additionally comprises a control system configured to determine a state of the surgical tool and determine a position and/or orientation of a reference coordinate system relative to a known coordinate system, activate a guided mode based on a first relationship criteria between the state of the surgical tool and the reference coordinate system, and deactivate the guided mode based on a second relationship criteria between the state of the surgical tool and the reference coordinate system, wherein the first relationship criteria and the second relationship criteria are different.