Abstract: A system is provided comprising a robotic instrument for use with a surgical tool. In some versions, the robotic instrument comprises a hand-held portion to be held by a user and a tool support movably coupled to the hand-held portion to support the surgical tool. A plurality of actuators operatively interconnect the tool support and the hand-held portion to move the tool support in three degrees of freedom relative to the hand-held portion. An optional constraint assembly may operatively interconnect the tool support and the hand-held portion to constrain movement of the tool support relative to the hand-held portion in three degrees of freedom. A visual indicator assists users in positioning hand-held portion of the instrument to maximize the useability of the system.

Abstract: An article holder is provided. The article holder may include a body and a plurality of gripping apertures. The body may terminate at a first and a second end. The first end may include at least one gripping aperture. The second end may include at least one gripping aperture. A user may drape the body over a structure, such as a bedrail, a wheelchair handle, a support bar or the like, so that at least one gripping aperture on the first end and at least one gripping aperture on the second end may be operable. For example, the at least one gripping aperture on the first end and the at least one gripping aperture on the second end may be on opposing sides below the bottom of the structure. The user may insert the first end through one gripping aperture on the second end. Then the user may pull the first end or the body near the first end so as to snugly cinch the second end and a portion of the body to the structure.