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Co-manipulation robotic systems are described herein that may be used for assisting with
laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to
use commercially-available surgical tools while providing benefits associated with surgical
robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms
using a disposable coupler while the reusable portions of the robot arm remain in a sterile
drape. Further, the co-manipulation robotic system may operate in multiple modes to …