Hand controller apparatus for detecting input position in a robotic surgery system

In some embodiments, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body with a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical tool. The hand controller apparatus can also include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The hand controller apparatus can additionally include a lateral movement detector configured to magnetically or inductively detect a lateral movement of the control lever.

TECHNICAL FIELD

This disclosure relates generally to robotic surgery systems and more particularly to a hand controller apparatus for receiving operator input for controlling the robotic surgery system to perform surgical procedures.

DESCRIPTION OF RELATED ART

Robotic surgery systems generally include an operator interface that receives operator input from a surgeon and causes corresponding movements of surgical tools within a body cavity of a patient to perform a surgical procedure. For example, the operator may grasp and move a hand grip while the operator interface senses movements of the hand grip. The operator interface and hand grip may operate to sense inputs responsive to movement of the operator's hand in several different degrees of freedom, thus providing inputs for causing the surgical tool to mimic movements of the operator's hand. Additional movements such as opening and closing of jaws of an end effector associated with the surgical tool may also be initiated in response to additional operator inputs received at the operator interface.

SUMMARY

In some cases, a hand controller apparatus for controlling a tool in a robotic surgery can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical tool. The hand controller apparatus can also include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The hand controller apparatus can also include and a lateral movement detector configured to magnetically or inductively detect a lateral movement of the control lever. Detection of the lateral movement can cause the input apparatus to control movement of the surgical tool based on the detected lateral movement of the control lever.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The lateral movement detector can be positioned in the body or in the control lever. The control lever can include a wiper disposed inside the body and extending from the pivot joint toward the proximal end and a paddle disposed outside the body and extending at an angle from the pivot joint toward the distally located interface end. The wiper can be configured to move in a direction opposite to a lateral movement of the paddle. The lateral movement detector can include a magnetic angular sensor configured to detect an angle formed between the paddle and the side surface of the body.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The hand controller apparatus can further include a magnet attached to the wiper and configured to move along with the wiper. The magnetic angular sensor can be configured to detect the angle based on movement of the magnet. At least a portion of the wiper can include a magnetic material. The magnetic angular sensor can be configured to detect the angle based on movement of the portion of the wiper. The lateral movement detector can include an inductive sensor including a curved coil and configured to detect a curved movement of the wiper based on an electrical current induced at the curved coil by the movement of the wiper. The wiper can be formed at least partially of a metal.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The control lever can include a paddle disposed outside the body and extending from the pivot joint toward the distally located interface end. The lateral movement detector can include an inductive sensor configured to detect a non-linear movement of a metallic portion disposed in or integrally formed with the paddle. The inductive sensor can include a substantially trapezoidal shaped coil. The inductive sensor can include a coil that can be curved toward the metallic portion. The metallic portion can include a substantially trapezoidal shape. The inductive sensor can include a substantially elliptical shaped coil. A portion of the elliptical shaped coil is curved toward the metallic portion.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. A portion of the metallic portion is curved toward the substantially elliptical shaped coil. The control lever can include a paddle disposed outside the body and extending from the pivot joint toward the distally located interface end. The lateral movement detector can include a proximity sensor configured to detect a position of the paddle with respect to the side surface of the body. The hand controller apparatus can further include a presence detector configured to detect a presence of a hand of an operator on the body. The presence detector can include a capacitive proximity sensor coated on an inner wall of the body. The hand controller apparatus can further include a palm grip disposed on or in the proximal end, the palm grip including a generally downwardly curved and rounded shape configured to support a portion of an operator's palm.

In some cases, a robotic surgery system can include an instrument station including an insertion device configured to support a surgical tool. The robotic surgery system can also include a workstation in configured to be in data communication with the instrument station. The workstation can include a hand controller apparatus configured to control movement of the tool. The hand controller apparatus can include a body including a proximal end and a distally located interface end coupled to the input device. The hand controller apparatus can also include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The hand controller apparatus can also include a lateral movement detector configured to magnetically or inductively detect a lateral movement of the control lever. The input device can be configured to control movement of the tool based on the detected lateral movement of the control lever.

The robotic surgery system of any of preceding paragraphs and/or any of robotic surgery systems described below can include one or more of the following features. The control lever can include a wiper disposed inside the body and extending from the pivot joint toward the proximal end and a paddle disposed outside the body and extending at an angle from the pivot joint toward the distally located interface end. The wiper can be configured to move in a direction opposite to a lateral movement of the paddle. The lateral movement detector can include a magnetic angular sensor configured to detect an angle formed between the paddle and the side surface of the body. The lateral movement detector can include an inductive sensor including a curved coil and configured to detect a curved movement of the wiper based on an electrical current induced at the curved coil by the movement of the wiper. The wiper can be formed at least partially of a metal. The control lever can include a paddle disposed outside the body and extending from the pivot joint toward the distally located interface end. The lateral movement detector can include an inductive sensor configured to detect a non-linear movement of a metallic portion disposed in or integrally formed with the paddle.

In some cases, a method of operating a hand controller apparatus for controlling a tool in a robotic surgery system can include detecting lateral movement of a control lever of the hand controller apparatus between a closed position and an open position, the control lever rotatably attached to a body of the hand controller apparatus and configured to control opening and closing of a surgical tool. The method can also include magnetically or inductively detecting a change in an angle of the control lever relative to the body of the hand controller apparatus when the control lever is moved between the closed position and the open position. The method can also include causing opening and closing of the surgical tool based on the detected change in the angle.

The method of operating a hand controller apparatus of any of preceding paragraphs and/or any of methods described below can include one or more of the following features. The control lever can include a wiper disposed inside the body and extending from a pivot joint toward a proximal end of the body and a paddle disposed outside the body and extending from the pivot joint toward a distally located interface end, the paddle configured to move between the open and close positions. A magnetic portion can be disposed in or integrally formed with the wiper. The wiper and the magnetic portion can laterally move between a first position and a second position about the pivot joint in a direction opposite to a lateral movement of the paddle, the first and second positions respectively corresponding to the open and close positions of the paddle. Magnetically or inductively detecting the change in the angle can include determining an angular position of the magnetic portion between the first position and the second position in response to a lateral movement of the wiper and detecting the change in the angle based on the determined angular position of the magnetic target.

The method of operating a hand controller apparatus of any of preceding paragraphs and/or any of methods described below can include one or more of the following features. Determining the angular position can be performed with a magnetic angular detector disposed below the wiper. The control lever can include a wiper disposed inside the body and extending from a pivot joint toward a proximal end of the body and a paddle disposed outside the body and extending from the pivot joint toward a distally located interface end, the paddle configured to move between the open and close positions. A metallic portion can be disposed in or integrally formed with the wiper. controlling the wiper and the metallic portion can partially rotate over a curved inductive coil between a first position and a second position about the pivot joint in a direction opposite to a lateral movement of the paddle. The first and second positions can respectively correspond to the open and close positions of the paddle. Magnetically or inductively detecting the change in the angle can include detecting induced electrical current at the curved inductive coil caused by a rotation of the wiper, demodulating the detected electrical current to produce a signal representing a position of the metallic portion and detecting the change in the angle based on the produced signal.

The method of operating a hand controller apparatus of any of preceding paragraphs and/or any of methods described below can include one or more of the following features. The control lever can include a paddle disposed outside the body and extending from a pivot joint, wherein a metallic portion can be disposed in or integrally formed with the paddle. The paddle and the metallic portion can move over an inductive coil between the open and close positions, the inductive coil facing the metallic portion. Magnetically or inductively detecting the change in the angle can include detecting induced electrical current at the inductive coil in response to a movement of the metallic portion, demodulating the detected electrical current to produce a signal representing a position of the metallic portion and detecting the change in the angle based on the produced signal. The inductive coil can have a substantially trapezoidal shape or a substantially elliptical shape.

In some cases, a method of operating a robotic surgery system that comprises a workstation including a hand controller apparatus and an instrument station including a surgical tool can include detecting lateral movement of a control lever of the hand controller apparatus between a closed position and an open position, the movement of the control level changing an angle between the control lever and a body of the hand controller apparatus. The method can also include magnetically or inductively detecting the change in the angle in response to the control lever moving between the closed position and the open position. The method can also include controlling an opening and closing movement of the tool based on the detected angle.

In some cases, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body configured to be moved to generate a first operator input to cause a tool to move corresponding to the movement of the body. The hand controller apparatus can also include an input control interface formed on a surface of the body and configured to sense one or more of a plurality of second operator inputs associated with a plurality of tool functions, the plurality of second operator inputs being different from the first operator input. The hand controller apparatus can also include a processor configured to control the tool to perform one or more of the plurality of tool functions in response to the sensed one or more second operator inputs.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The tool can include a surgical instrument and at least one function of the plurality of tool functions comprises a surgery routine. The surgery routine can include controlling the surgical instrument to perform at least one of: suturing, cutting, grasping or moving in a predetermined direction. The tool can include a camera configured to image a surgical site, and wherein at least one function of the plurality of tool functions comprises at least one of: causing a lens of the camera to be washed, causing the camera to zoom in and/or out, causing the camera to pan, or causing the camera to tilt. The hand controller apparatus can further include a memory storing the plurality of tool functions corresponding with the plurality of second operator inputs.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The input control interface can be configured to sense at least one input of: swiping from a first side of the input control interface to a second side of the input control interface different from the first side, tapping, swiping and holding, tapping and holding, multiple tapping, or multiple tapping and holding. The processor can be configured to control the tool to perform one or more of the plurality of tool functions in response to the sensed at least one input. The input control interface can include a trackpad or a capacitive touch surface configured to sense the one or more second operator inputs. The one or more second operation inputs can include swiping from a first side of the trackpad to a second side of the trackpad different from the first side.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The processor can be configured to cause the tool to become locked in a current surgery position in response to the sensed swiping from the first side of the trackpad to the second side of the trackpad. The tool can include a pair of jaws, and wherein the processor is configured to control the pair of jaws of the tool to be fixed in the current surgery position while the body is being repositioned. The body can include a housing on an end thereof, the housing including a generally downwardly curved and rounded shape configured to receive and support a portion of an operator's palm. The hand controller apparatus can further include at least one control lever attached to the body at a pivot joint and extending along the body, the at least one control lever being laterally moveable about the pivot joint, and wherein the at least one control lever is configured to control one or more of the plurality of tool functions.

In some cases, a method of operating a hand controller apparatus for controlling a tool in a robotic surgery system can include generating a first operator input based on movement of a body of the hand controller apparatus, the first input configured to control the tool to move corresponding to the movement of the body. The method can also include sensing, at an input control interface formed on a surface of the body, one or more of a plurality of second operator inputs corresponding to a plurality of tool functions, the plurality of second operator inputs different from the first operator input. The method can also include, by a processor, controlling the tool to perform one or more of the plurality of tool functions in response to the sensed one or more second operator inputs.

The method of operating a hand controller apparatus of any of preceding paragraphs and/or any of methods described below can include one or more of the following features. The tool can be a surgical instrument. Controlling the tool can include controlling the surgical instrument to perform at least one of the following: suturing, cutting, grasping or moving in a predetermined direction. The tool can include a camera configured to image a surgical site. Controlling the tool can include at least one of: causing a lens of the camera to be washed, causing the camera to zoom in and/or out, causing the camera to pan, or causing the camera to tilt. The method can further include storing the plurality of tool functions corresponding with the plurality of second operator inputs in a memory.

The method of operating a hand controller apparatus of any of preceding paragraphs and/or any of methods described below can include one or more of the following features. Sensing the one or more of second operator inputs can include sensing at least one of the following inputs: swiping from a first side of the input control interface to a second side of the input control interface different from the first side, tapping, swiping and holding, tapping and holding, multiple tapping, or multiple tapping and holding. The input control interface can include a trackpad or a capacitive touch surface.

In some cases, a hand controller apparatus for controlling one or more tools in a robotic surgery system can include a body configured to be moved to generate a first operator input to control a surgical instrument of the one or more tools to move corresponding to the movement of the body. The hand controller apparatus can also include an input control interface formed on a surface of the body and configured to sense a second operator input different from the first operator input. The hand controller apparatus can also include a processor configured to control at least first and second functions of first and second tools of the one or more tools in response to the received second operator input, the first function and the second function performed mutually exclusively of each other, the first and second functions being different from each other, and the first and second tools being different from each other.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The processor can be configured to control the first function of the first tool in response to a first type of the second operator input while disabling the second function of the second tool, and control the second function of the second tool in response to a second type of the second operator input while disabling the first function of the first tool. The input control interface can include a trackpad or a capacitive touch surface configured to sense at least one of: swiping from a first side of the trackpad to a second side of the trackpad different from the first side, tapping, swiping and holding, tapping and holding, multiple tapping, or multiple tapping and holding.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The trackpad can be configured to sense at least one of the following inputs: swiping from a first side of the trackpad to a second side of the trackpad different from the first side, tapping, swiping and holding, tapping and holding, multiple tapping, or multiple tapping and holding. The processor can be configured to perform different functions based on the sensed second operator input. The capacitive touch surface can include at least one capacitive input configured to sense a single-click or a multiple-click, and wherein the processor is configured to perform different functions based on the single-click or multiple-click.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The first tool can a camera configured to image a surgical site, the first function being enabling and/or disabling the camera. The second tool can include an instrument clutch configured to reposition the body, the second function being enabling and/or disabling the instrument clutch. The track pad can be configured to sense swiping from a first side of the trackpad to a second side of the trackpad different from the first side and holding the second side of the trackpad. The processor can be configured to, in response to the sensed swiping and holding, disable an association of the body with the surgical instrument and enable association of the body with the camera.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The track pad can be further configured to sense a release of the second side, and wherein the processor is further configured to, in response to the sensed release, disable the association of the body with the camera and enable the association of the body with the surgical instrument. The track pad can be further configured to sense a first swiping from a first side of the trackpad to a second side of the trackpad different from the first side and first releasing of the trackpad, and wherein the processor is further configured to, in response to the sensed first swiping and first releasing, disable an association of the body with the surgical instrument, and permit repositioning of the body without moving the surgical instrument.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The track pad can be further configured to sense a second swiping from the first side of the track pad to the second side of the track pad and a second releasing of the trackpad, and wherein the processor is configured to, in response to the sensed second swiping and second releasing, enable the association of the body with the surgical instrument.

In some cases, a method of operating a hand controller apparatus for controlling one or more tools in a robotic surgery system can include generating a first operator input based on a movement of a body of the hand controller apparatus, the first operator input configured to control movement of a surgical instrument of the one or more tools. The method can also include sensing, at an input control interface formed on a surface of the body, a second operator input different from the first operator input. The method can also include, by a processor, controlling at least first and second functions of first and second tools of the one or more tools in response to the received second operator input by performing the first function and the second function mutually exclusively of each other, the first and second functions being different from each other, and the first and second tools being different from each other.

The method of operating a hand controller apparatus of any of preceding paragraphs and/or any of methods described below can include one or more of the following features. Controlling the at least first and second functions can include controlling the first function of the first tool in response to a first type of the second operator input while disabling the second function of the second tool and controlling the second function of the second tool in response to a second type of the second operator input while disabling the first function of the first tool.

In some cases, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical tool. The hand controller apparatus can also include a feedback device supported by the body and configured to provide feedback to a user in response to a change in a function of the hand controller apparatus from a first mode to a second mode, the second mode different from the first mode. The function can include at least one: controlling a camera that images a surgical site, instrument clutching to reposition the hand controller apparatus, a pre-set surgery routine, or an operation to control the surgical tool. The change from the first mode to the second mode can be configured to occur within the same function.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. When the function includes controlling the camera, the first mode can include enabling control of the camera, and the second mode can include disabling control of the camera. When the function comprises instrument clutching, the first mode can include enabling instrument clutching and the second mode can include disabling instrument clutching.

In some cases, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical instrument. The hand controller apparatus can also include a feedback device positioned in or on the body and configured to provide feedback to a user in response to a change in a function of the hand controller apparatus from a first mode to a second mode, the second mode different from the first mode.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The feedback device can include a haptic feedback device configured to provide a haptic feedback in response to the change in the function. The haptic feedback device can include a haptic actuator and a controller configured to sense the change in the function and actuate the haptic actuator to vibrate in response thereto. The haptic actuator ca be disposed adjacent to the proximal end or the distally located interface end. The hand controller apparatus can further include an input control interface formed on an upper surface of the body and configured to receive an additional user input. The haptic actuator can be disposed adjacent to the input control interface.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The function can include at least one of: controlling a camera that images a surgical site, instrument clutching to reposition the hand controller apparatus, a pre-set surgery routine, or an operation to control the surgical instrument. When the function includes controlling the camera, the first mode can include enabling control of the camera and the second mode can include disabling control of the camera. When the function includes instrument clutching, the first mode can include enabling instrument clutching and the second mode comprises disabling instrument clutching.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The change in the function can be generated from repositioning the body or from a secondary input of the robotic surgery system remote from the body. The feedback device can include a visual feedback device configured to provide a visual feedback in response to the change in the function. The feedback device can include an audio feedback device configured to provide an audio feedback in response to the change in the function.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The feedback device can include a tactile feedback device configured to provide a tactile feedback in response to the change in the function. The tactile feedback can include at least one of the following: a bump, a beak, a grove, a lip, or a texture difference.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The feedback device can include a force feedback device configured to provide a force feedback in response to the change in the function. The force feedback device can include a self-centering wheel. The feedback device is located in a portion of the body configured to contact a user's palm. The feedback device is configured to provide different feedbacks in response to different changes in the function. The different feedbacks can be configurable by the user.

In some cases, a robotic surgery system can include an instrument station comprising an insertion device configured to support a surgical tool. The robotic surgery system can also include a workstation in data communication with the instrument station. The workstation can include a hand controller apparatus configured to receive an operator input for controlling the tool. The hand controller apparatus can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control the tool. The hand controller apparatus can include a feedback device disposed in or on the body and configured to provide feedback to an operator in response to a change in a function of the hand controller apparatus from a first mode to a second mode, the second mode different from the first mode.

The robotic surgery system of any of preceding paragraphs and/or any of robotic surgery systems described below can include one or more of the following features. The feedback device can include at least one of the following: a haptic feedback device configured to provide a haptic feedback in response to the change in the function, a visual feedback device configured to provide a visual feedback in response to the change in the function, an audio feedback device configured to provide an audio feedback in response to the change in the function, a tactile feedback device configured to provide a tactile feedback in response to the change in the function or a force feedback device configured to provide a force feedback in response to the change in the function.

The robotic surgery system of any of preceding paragraphs and/or any of robotic surgery systems described below can include one or more of the following features. The change in the function can be generated from repositioning the body or from a secondary input of the workstation remote from the hand controller apparatus. The feedback device can be configured to provide different feedbacks in response to different changes in the function. The different feedbacks can be configurable by the operator.

In some cases, a method of operating a hand controller apparatus for controlling a tool in a robotic surgery system can include receiving an operator input. The method can also include determining that the received operator input triggers a change in a function of the hand controller apparatus from a first mode to a second mode, the second mode different from the first mode. The method can also include, with a feedback device supported by a body of the hand controller apparatus, providing operator feedback in response to the change in the function.

The method of operating a hand controller apparatus of any of preceding paragraphs and/or any of methods described below can include one or more of the following features. The function can include at least one of the following: controlling a camera that images a surgical site, instrument clutching to reposition the hand controller apparatus, a pre-set surgery routine, or an operation to control a surgical tool of the robotic surgery system. When the function includes controlling the camera, the first mode can include enabling control of the camera and the second mode can include disabling control of the camera.

The method of operating a hand controller apparatus of any of preceding paragraphs and/or any of methods described below can include one or more of the following features. When the function includes instrument clutching, the first mode can include enabling instrument clutching and the second mode comprises disabling instrument clutching. Providing the operator feedback can include providing different feedbacks in response to different changes in the function.

In some cases, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical tool. The a hand controller apparatus can also include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The control lever can include a tail region adjacent to the pivot joint and a paddle region connected to the tail region and extending toward the distally located interface end, wherein the tail region includes an inner surface facing the body and an outer surface opposing the inner surface, and wherein at least part of the outer surface of the tail region is outwardly curved.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The at least part of the outer surface of the tail region can include a substantially convex shape. The tail region can include a tail end horizontally overlapping the pivot joint. An outer surface of the tail end can be outwardly curved and an outer surface of the remaining portion of the tail region can be substantially flat. The tail region can include a tail end horizontally overlapping the pivot joint. A first portion of an outer surface of the tail end can be outwardly curved and a second portion of the outer surface of the tail end can be substantially flat.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The at least part of the outer surface of the extension can have a substantially concave shape. The control lever can further include an extension extending downwardly from the paddle region, wherein at least part of the extension is curved toward the body. The hand controller apparatus can further include a cutout formed on or in the side surface of the body and configured to accommodate the control lever therein such that a longitudinal axis of the control lever is substantially parallel to a longitudinal axis of the body.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The hand controller apparatus can further include a palm grip disposed in or on the proximal end, the palm grip including a generally downwardly curved and rounded shape configured to receive and support a portion of an operator's palm. The hand controller apparatus can further include a neck portion interposed between the pivot joint and the palm grip, wherein a width of the neck portion can be smaller than a width of the palm grip.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The neck portion can include a protruding side surface. The protruding side surface of the neck portion can have a curvature that is substantially the same as a curvature of the at least part of the outer surface of the tail region. At least one of i) the protruding side surface of the neck portion, or ii) the at least part of the outer surface of the tail region can be configured to enable an operator to rotate the body of the hand controller apparatus about a longitudinal axis of the body with the operator's finger without rotation of the operator's wrist.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The hand controller apparatus can further include an input control interface formed on an upper surface of the body and configured to sense an operator input. The input control interface can include a first side facing the proximal end and a second side opposing the first side and facing the distally located interface end. The hand controller apparatus can further include a slope region disposed between the first side of the input control interface and the neck portion and downwardly sloped to allow an operator's finger to be rested thereon. The slope region can be curved or linear. The input control interface can include a periphery at least part of which is raised to provide a tactile feedback for a location of the input control interface. The palm grip can be downwardly angled with respect to the neck portion to substantially resemble a natural curvature formed between an average operator's thumb and palm when the palm grip is grasped by the operator's hand.

In some cases, a robotic surgery system can include an instrument station including an insertion device configured to support a surgical tool. The robotic surgery system can also include a workstation in data communication with the instrument station. The workstation can include a hand controller apparatus configured to receive an operator input for controlling the tool. The hand controller apparatus can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control the tool. The hand controller apparatus can also include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The control lever can include a tail region adjacent to the pivot joint and a paddle region extending from the tail region toward the distally located interface end. The tail region includes an inner surface facing the body and an outer surface opposing the inner surface. At least part of the outer surface of the tail region can be outwardly curved.

The robotic surgery system of any of preceding paragraphs and/or any of robotic surgery systems described below can include one or more of the following features. The at least part of the outer surface of the tail region can include a substantially convex shape. The control lever can further include an extension extending downwardly from the paddle region. At least part of the downward extension can be curved toward the body. The at least part of the outer surface of the tail region can be configured to enable an operator to rotate the hand controller apparatus about a longitudinal axis of the body with the operator's finger without rotation of the operator's wrist.

In some cases, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical instrument. The hand controller apparatus can also include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The hand controller apparatus can also include a palm grip disposed in or on the proximal end, the palm grip including a substantially downwardly curved and rounded shape configured to receive and support a portion of an operator's palm. The hand controller apparatus can also include a neck portion interposed between the pivot joint and the palm grip, wherein a width of the neck portion is smaller than a width of the palm grip.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. At least part of the neck portion may not horizontally overlap the pivot joint. The palm grip can include an upper portion extending from the neck portion toward the proximal end, a middle portion downwardly extending at a first angle from the upper portion, and a lower portion downwardly extending at a second angle from the middle portion. Each of the upper and lower portions can include a width smaller than a width of the middle portion. The upper portion includes a width greater than a width of the neck portion.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The body can include an upper surface accommodating an input control interface configured to sense an operator input. The upper surface can be slanted toward the side surface of the body, the slanted upper surface configured to support an operator's index finger when the palm grip is grasped by the operator's hand. The pivot joint can be disposed inside the body and positioned closer to a longitudinal axis of the body than a longitudinal axis of the control lever.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The control lever can include a wiper disposed inside the body and extending from the pivot joint toward the proximal end and a paddle disposed outside the body and extending at an angle from the pivot joint toward the distally located interface end. The wiper and the paddle can be connected to the pivot joint such that longitudinal axes of the wiper and the paddle are substantially parallel to each other. The longitudinal axes of the wiper and the paddle may not intersect a center of the pivot joint.

In some cases, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical tool. The hand controller apparatus can also include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The pivot joint can be disposed inside the body and positioned closer to a longitudinal axis of the body than a longitudinal axis of the control lever. The longitudinal axis of the control lever may not intersect a center of the pivot joint.

The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The longitudinal axis of the control lever can be parallel to the longitudinal axis of the body when the control lever is in a closed position.

DETAILED DESCRIPTION

Overview of Robotic Surgery System

FIG. 1illustrates a robotic surgery system100in accordance with some embodiments. The robotic surgery system100includes a workstation102and an instrument station or a patient cart104. The patient cart104includes at least one tool mountable on a moveable instrument mount, central unit or drive unit106that houses an instrument drive (not shown) for manipulating the tool. The tool may include an insertion device108configured to support at least one surgical instrument (hereinafter to be interchangeably used with an “instrument” or “surgical tool”) and a camera (not shown) that images a surgical site. The workstation102may also include a tool such as an instrument clutch (that may be implemented by a foot pedal described below). The insertion device108can support two or more instruments (not shown). The camera may include a primary camera and at least one secondary camera. The primary camera and the secondary camera may provide different viewing angles, perform different functions and/or produce different images. At least one of the primary camera and the secondary camera may be a two-dimensional (2D) or a three-dimensional (3D) camera.FIG. 1is merely an example of a robotic surgery system, and certain elements may be removed, other elements added, two or more elements combined or one element can be separated into multiple elements depending on the specification and requirements of the robotic surgery system.

The workstation102includes an input device for use by a user (for example, a surgeon; hereinafter to be interchangeably used with an “operator”) for controlling the instrument via the instrument drive to perform surgical operations on a patient. The input device may be implemented using a haptic interface device available from Force Dimension, of Switzerland, for example. The input device includes a right input device132and a left input device112for controlling respective right and left instruments (not shown). The right input device132includes a right hand controller122(hereinafter to be interchangeably used with a “hand grip” or “handpiece”) and the left input device112includes a left hand controller124. The right and left hand controllers122and124may be mechanically or electrically coupled to the respective input devices132and112. Alternatively, the right and left hand controllers122and124may be wirelessly coupled to the respective input devices132and112or may be wireless coupled directly to the workstation102. In some cases, when there are two instruments at the instrument station104, the right and left hand controllers122and124may respectively control the two instruments. In some cases, when there are more than two instruments, the right and left hand controllers122and124may be used to select two of the multiple instruments that an operator wishes to use. In some cases, when there is only one instrument, one of the right and left hand controllers122and124may be used to select the single instrument.

The input devices132and112may generate input signals representing positions of the hand controllers122and124within an input device workspace (not shown). In some cases where the input devices132and112are coupled directly and wirelessly to the workstation, they would include the necessary sensors to allow wireless control such as an accelerometer, a gyroscope and/or magnetometer. In other cases, a wireless connection of the input devices132and112to the workstation102may be accomplished by the use of camera systems alone or in combination with the described sensors. The afore described sensors for wireless functionality may also be placed in each handpiece to be used in conjunction with the input devices132and112to independently verify the input device data. The workstation102also includes a workstation processor circuit114, which is in communication with the input devices132and112for receiving the input signals.

The workstation102also includes a display120in communication with the workstation processor circuit114for displaying real time images and/or other graphical depictions of a surgical site produced by the camera associated with the instrument. The workstation102may include right and left graphical depictions (not shown) displayed on the display120respectively for the right and left side instruments (not shown). The graphical depictions may be displayed at a peripheral region of the display120to prevent obscuring a live view of the surgical workspace also displayed on the display. The display120may further be operable to provide other visual feedback and/or instructions to the user. A second auxiliary display123may be utilized to display auxiliary surgical information to the user (surgeon), displaying, for example, patient medical charts and pre-operation images. In some cases, the auxiliary display123may be a touch display and may also be configured to display graphics representing additional inputs for controlling the workstation102and/or the patient cart104. The workstation102further includes a footswitch or foot pedal126, which is actuatable by the user to provide input signals to the workstation processor circuit114. In one case, the signal provided to the workstation processor circuit114may inhibit movement of the instrument while the footswitch126is depressed.

The patient cart104includes an instrument processor circuit118for controlling the central unit106, insertion device108, one or more instruments and/or one or more cameras. In such case, the instrument processor circuit118is in communication with the workstation processor circuit114via an interface cable116for transmitting signals between the workstation processor circuit114and the instrument processor circuit118. In some cases, communication between the workstation processor circuit114and the processor circuit118may be wireless or via a computer network, and the workstation102may even be located remotely from the instrument station104. Input signals are generated by the right and left input devices132and112in response to movement of the hand controllers122and124by the user within the input device workspace and the instrument is spatially positioned in a surgical workspace in response to the input signals.

FIG. 2illustrates a perspective view of the right side input device132of the workstation102shown inFIG. 1. Since the structure and operations of the right and left input devices132and112are substantially the same, the description will be provided only for the right side input device132. Furthermore,FIG. 2illustrates only an example of an input device, input devices having other structures and shapes may also be used, as long as they receive a user's inputs for controlling the operation of the instrument. Referring toFIG. 2, the input device132includes three moveable arms180,182, and184. The hand controller122may be coupled via a gimbal mount186to the moveable arms180,182, and184. The input device132may include sensors (not shown) that sense the position of each of the arms180,182, and184and rotation of the hand controller122and produces signals representing a current position of the hand controller122. In such case, the position signals are transmitted as input signals to the workstation processor circuit114. The hand controller122may include a user actuatable button or input control interface326a(see, for example,FIG. 3B), which may produce additional input signals for transmission to the workstation processor circuit114.

Additional details of the robotic surgery system100including the hand controllers122and124are described in U.S. Patent Publication No. 2018/0168758, which is assigned to the assignee of the present application and the disclosure of which is incorporated by reference in its entirety.

Overview of Handpiece

FIG. 3Aillustrates a perspective view of a left side handpiece124in an open position according to some embodiments.FIG. 3Billustrates a perspective view of a right side handpiece122in an open position according to some embodiments.FIG. 4Aillustrates a plan view of the handpiece124ofFIG. 3Baccording to some embodiments.FIG. 4Billustrates a left side view of the handpiece124ofFIG. 3Baccording to some embodiments.FIG. 5illustrates a perspective view of a right side handpiece122in a closed position according to some embodiments. The handpieces124and122shown inFIGS. 3A to 5can be used respectively as hand controllers for the input devices112and132shown inFIG. 1.

Each of the handpieces124and122shown inFIGS. 3A and 3Bincludes a single pincher308/328(hereinafter to be interchangeably used with “pincer,” “paddle” or “control lever”). Each of the single paddle handpieces124and122may control the movement of one or a pair of jaws of a corresponding surgical instrument. The movement can include opening and/or closing of the one or more jaws. Thus, providing the single paddle handpieces124and122may be beneficial, as manufacturing costs can be reduced and their manufacturing procedure can be simplified. However, each handpiece may also include two pinchers (see, for example,FIG. 9). Furthermore, althoughFIG. 3Ashows that the pincher308of the left side handpiece124is disposed on the left side of the body305, the pincher308may be disposed on the right side of the body305(see, for example,FIG. 6A). Moreover, althoughFIG. 3Bshows that the pincher328of the right side handpiece122is disposed on the right side of the body325, the pincher328may be disposed on the left side of the body325(not shown).

Referring toFIG. 3A, the left side handpiece124includes a proximal end301, an upper handpiece housing302, a lower handpiece housing304, a handpiece body305, an input control interface306a, a pincher308having a pivot point, a tail end311and a paddle end313, an upper housing310, a lower housing312, a front plate (or connector)314and a distally located interface end315. The proximal end301and the distally located interface end315may be part of the handpiece body305.

Referring toFIG. 3B, the right side handpiece122includes a proximal end321, an upper handpiece housing322, a lower handpiece housing324, a handpiece body325, an input control interface326a, a pincher328having a pivot joint372(see, for example,FIG. 11A), a tail end331and a paddle end333, an upper housing330, a lower housing332and a front plate334, and a distally located interface end335. The proximal end321and the distally located interface end335may be part of the handpiece body325.

The handpiece122may be configured for operation by a right hand of the operator and the handpiece124may be configured for operation by a left hand. The left handpiece124may be configured as a mirror image of the right handpiece122as shown inFIGS. 3A and 3B, but may be differently configured depending on the nature of the task. For example, only one of the right and left handpieces122and124may include an input control interface. In such case, actuation on the single input control interface may perform input control for both of the handpieces122and124. Furthermore, depending on the embodiment, at least one of the right and left handpieces122and124may include a plurality of input control interfaces. In some cases, the plurality of input control interfaces may have the same shape, function and/or structure. In some cases, the plurality of input control interfaces may have different shapes, functions and/or structures. Since the structure and operations of the right and left handpieces122and124are substantially the same, the description will be provided only for the right side handpiece122.

The proximal end321of the right handpiece122may be shaped to be grasped by a right hand of an operator. Here, the proximal end321may include the handpiece housing322and324. The proximal end321may also be referred to as a handle or a palm rest. The proximal end321may have a generally downwardly curved and rounded shape operable to receive and support a portion of the operator's palm when the body325is grasped in the hand of the operator. Although the upper and lower housings322and324appear to be as long as the remaining portion of the body325, the present disclosure is not limited thereto. That is, the upper and lower housings322and324may be longer or shorter than the remaining portion of the body325. The distally located interface end335may be configured for coupling to the input apparatus132for controlling the surgical tool associated with the robotic surgery system100. At least a portion of the front plate334may be positioned in the distally located interface end335.

The pincher328may be attached to the body325at the pivot joint372(see, for example,FIG. 11A). The pincher328may extend from the tail end331to the paddle end333along the body325to be away from the proximal end321.FIG. 3Bshows that the pincher328is in an open position. The open position means that the pincher328is opened by laterally moving away from the body325in a direction (for example, a clockwise direction) so that the pincher328forms an angle of θ (hereinafter referred to as a “pincher angle” or “pincer angle”) with respect to a side surface of the body325. For the left side handpiece124, the pincher313is opened by laterally moving away from the body305in an opposite direction (for example, a counterclockwise direction) so that the pincher308has a pincer angle (θ) with respect to the body305. In some cases, the pincer angle (θ) can be in the range of 0° to about 15°. In some cases, the pincer angle (θ) can be in the range of 0° to about 12.5°. By adjusting the pincer angle, the position or movement of the instrument can be adjusted in a highly accurate manner. In some cases, the maximum pincer angle (θ) can be greater or smaller than about 15°.

In some cases, the pincher328can be elastically moved between the open position and the closed position. In such cases, the pincher328may be configured to have the open position as an original or default position. The pincher328can restore to the original position via an elastic element such as a compression spring, when it is released by a user (see reference numeral348inFIG. 11B). When an operator desires to fix the position of the pincher328in a partially open position, the operator may be required to hold the pincher328in the specific open position with his or her finger. In some cases, a magnet or an electromagnet may be used in place of or in addition to the compression spring to fix the pincher328in a particular position and/or to provide a rebounding or resistive force to cause the pincher328return to an open position upon being actuated/closed. Furthermore, the movement of the pincher328may be controlled by a processor so that the pincher328is fixed in a partially open position without the operator's finger holding the pincher329at the position. In such cases, the pincher328may be caused to remain in a particular position by varying the amount of electromagnetic force being delivered. Varying the electromagnetic force being delivered may also be used to provide a resistive or feedback force on the pincher328on the operator's finger placed on the pincher328or as the operator tries to actuate the pincher328. In some cases, the pincher328can be non-elastically (for example, mechanically) moved between the open position and the closed position by pressing the tail end331of the pincher328or by pulling the paddle end333away from a side surface of the body325for example, in a clockwise direction. In such cases, the pincher328may be fixed in a partially open position without the operator's finger holding the pincher328at that position.

When the pincher328is laterally moved in the workstation102, the processor circuit114generates and transmits a control signal to the patient cart104such that one or both of the jaws of the instrument are simultaneously opened or closed accordingly based on the control signal. For example, if the pincer angle (θ) is small, the one or more jaws of the instrument are opened in a correspondingly small amount. Furthermore, if the pincer angle (θ) is large, the one or more jaws of the instrument are opened in a correspondingly large amount.

The pincher328may be accommodated in a cutout336in a closed position where the pincer angle is generally 0° (see, for example,FIG. 5). The cutout336may include a recess, an indentation or a groove. The pincher328may be received in the cutout336such that a surface of the pincher328facing the body325is generally contiguous with side surfaces of the body325when the pincher328is in the closed position. In some cases, the handpiece122may not include a cutout portion, and the paddle end333of the pincher328contacts the body325in a closed position where the pincer angle is generally 0°.

The input control interface326amay be positioned on an upper surface of the body325. An operator may perform a primary control of repositioning the input devices or actuating actuators to control end-effectors (for example, one or more jaws) of the instruments. An additional control or secondary control (other than the primary control) may be performed using the input control interface326a. For example, the input control interface326amay be used to receive additional user inputs such as camera control or instrument clutch, that may be difficult for an operator to provide a user input with the handpieces or foot pedal particularly while the operator is moving the handpieces. The additional user inputs may also include controlling tool functions (to be described later), controlling paddle movements, and/or selecting particular instruments when there are more than two surgical instruments. The input control interface326amay be generally horizontally aligned with at least a portion of the pincher328. The input control326amay be a PCB slider having an actuator surface or an input control interface (to be described below in greater detail). The input control interface326amay be slightly inclined toward a side of the body325where an operator's index finger would be located when the operator grasps the handpiece. A detailed structure of a handpiece having an inclined input control interface is described in U.S. Patent Publication No. 2018/0168758, which is incorporated by reference in its entirety.

Operation of Handpiece

FIG. 6Aillustrates a perspective view of a left side handpiece124agrasped by a user's left hand according to some embodiments.FIG. 6Billustrates a perspective view of left and right side handpieces124and122grasped by a user's hands according to some embodiments.

Referring toFIG. 6A, a pincher308aof the handpiece124ais disposed on the right side of a body325a. In such case, a user's left thumb710can be positioned on the pincher308aof the handpiece124ato close or open the pincher308a. Furthermore, the remaining four fingers may be positioned on the left side of the body325a. A user's index finger720may be positioned on the top surface of the body325ato actuate the input control interface326a.

Referring toFIG. 6B, the left side handpiece124is grasped by a user's left hand, whereas the right side handpiece122is grasped by a user's right hand. The operator's left index finger720is shown operating the left pincher308(partially shown) whereas the operator's thumb710is shown grasping the body325of the handpiece124. Furthermore, the operator's right index finger740is shown operating the right pincher328whereas the operator's thumb730is shown grasping the body325of the handpiece122. The operator can open and close the left and right pinchers308and328by making pincher movements (for example, by pressing the respective paddle ends313and333) with the index fingers respectively.

The left handpiece124may be rotated by a user's left hand. Furthermore, the right handpiece122may be rotated by a user's right hand about the center of the front plate334. For the left hand piece124, a user's thumb710and a portion of a user's palm may grasp or support the handpiece124, whereas one of the index finger720, middle, ring and pinky fingers can be used to operate the pincher (not shown), for example, via a fingertip. Similarly, for the right hand piece122, a user's thumb730and palm may grasp or support the handpiece122, whereas one of the index finger740, middle, ring and pinky fingers can be used to operate the pincher328(not shown), for example, via a fingertip. The pincher308of the left handpiece124and the pincher328of the right handpiece122may be sized such that when grasped by the hand of an average operator, the fingertips on the respective pinchers are positioned to receive distal phalanges of the operator's finger720/740and thumb710/730.

The single control lever328of the right handpiece122may produce a control signal for the right input device132configured to simultaneously move one or a pair of jaws of a corresponding surgical tool. Furthermore, the single control lever308of the left handpiece124may produce a control signal for the left input device112configured to simultaneously move one or a pair of jaws of a corresponding surgical tool.

Additional Handpiece Examples

FIG. 7illustrates a perspective view of a right side handpiece122bin an open position according to some embodiments. The handpiece122bofFIG. 7has a different shape compared to the previous handpiece examples. For example, the handpiece122bhas a relatively long and substantially linear housing322a. Furthermore, the handpiece122bhas a pincher328disposed near the top of a body325. The handpiece122bhas a paddle with a relatively narrower width (measured in a longitudinal direction of the handpiece).

FIG. 8illustrates a perspective view of a left side hand controller124bin an open position according to some embodiments. The handpiece124bofFIG. 8has a different shape compared to the previous handpiece examples. For example, a portion of the body305and a portion of a housing322bare cut. Thus, the housing322bis relatively short. The housing322bis also generally linear.

FIG. 9illustrates a perspective view of another handpiece117in an open position according to some embodiments. The hand controller117includes two pinchers309and316respectively disposed on the left and right sides of the body327. In such case, as the pinchers309and316are opened and closed, one or a pair of jaws of the instrument are opened and closed. A detailed operation of a two pincher handpiece is described in U.S. Patent Publication No. 2018/0168758, which is incorporated by reference in its entirety.

It is appreciated that the handpieces shown inFIG. 3AtoFIG. 9are merely examples and the present disclosure is not limited thereto. For example, it is possible to provide many other handpieces including one or more of the following variations: different body shapes, different pincher shapes or dimensions, different numbers of pinchers, different positions, shapes or numbers of input control interfaces, and/or different positions of other handpiece elements may also be possible.

Assembly of Handpiece

FIG. 10illustrates an assembly view of the handpiece122ofFIG. 3Baccording to some embodiments.FIG. 10is merely an example assembly view of the handpiece122, and certain elements may be removed, other elements added, two or more elements combined or one element can be separated into multiple elements depending on the specification and requirements of the handpiece. Referring toFIG. 10, the upper and lower handpiece housings322and324accommodate a first PCB350, a first PCB carrier354, a wiper (or extension or inner paddle)370, a bar magnet (hereinafter to be interchangeably used with a “magnet,” “magnetic portion,” or a “magnetic target”)352, a compression spring348and a pivot joint372. The upper and lower housings330and332accommodate a center mount342, a vibration motor (or a haptic actuator)344and a second PCB326. The upper housing330has an opening346that accommodates and exposes a top surface of the second PCB326. The front plate334and a front plate label338are connected to the center mount342via a screw336and a threaded insert340.

The first PCB350may include a pincer angle detector and/or a presence detector (to be described in greater detail below). The first PCB350may also include a handpiece feedback control device (to be described later). The first PCB holder354accommodates the first PCB350. The bar magnet and/or the compression spring348can also be used to detect a pincer angle in connection with the pincer angle detector as described herein. The pincher328may be rotatably fixed to an interior portion of the upper and lower handpiece housings322and324via a pin (not shown) inserted into a pin hole334of the pivot joint372. For example, the pincher328may rotate laterally from a side portion of the body325about the pivot joint372.

The second PCB326may include an IC for driving a trackpad or a capacitive touch surface326afor user input and gesture control (to be described in greater detail below). The trackpad or capacitive touch surface may be positioned on the top surface of the second PCB326. The second PCB326may also include one or more of the pincer angle detector, the presence detector or the handpiece feedback control device. The vibration motor344may be mounted on the center mount342. However, the vibration motor344may be located in other positions inside the handpiece122. The vibration motor344can be used for providing a haptic feedback to an operator (to be described in greater detail below).

Paddle Actuation Sensing/Pincer Angle Detection

As described herein, the pincher or paddle moves between a closed position and an open position. The open position includes a partially open position and a completely open position. The paddle would form a pincer angle with respect to a side surface of the handpiece body facing the paddle. In some cases, the pincer angle is the minimum at the closed position and the maximum at the completely open position. In operation, the pincer angle would be between the minimum and maximum at a partially open position. As the paddle moves from a closed position to a partially or completely open position, the one or more jaws of the surgical instrument also move to correspond to the movement of the paddle. Furthermore, as the paddle moves from the open position to the closed position, the one or more jaws of the surgical instrument also move to correspond to the movement of the paddle. Thus, it is advantageous to sense or detect an accurate position of the paddle or a pincer angle in order to more precisely control the movement of the surgical instrument.

Pincer angle detection or paddle actuation sensing can be done in various ways. In some cases, pincer angle can be detected by magnetically or inductively sending a movement of a metallic portion or target disposed in the wiper or paddle. For example, a magnetic angular detector, an inductive/eddy current detector or proximity sensor can be used for pincer angle detection. However, other detection methods can also be used as long as they can detect a position of the paddle or a pincer angle with respect to the body, or distance between the paddle and the body. Although the pincer angle detection or paddle actuation sensing is described in connection with one paddle handpiece, it can be applied to a handpiece having two paddles. In such cases, since the two paddles of the handpiece would move symmetrically, pincer angle detection for only one of the paddles may be sufficient to control the movement of the surgical instrument.

1. Magnetic Angular Detector for Detecting Wiper Movement

This method detects an angular movement of a magnetic portion or target that moves, when a pincher laterally moves with respect to a side surface of the handpiece body. In some cases, the magnetic target can be attached to and move along with the wiper, when the pincher laterally moves with respect to the side surface of the body. In some cases, at least a portion of the wiper can be a magnetic target. For example, a part or the entirety of the wiper can be formed of a magnetic material. In such cases, no separate magnet is required. Magnetic angle detection may provide several advantages over magnetic strength detection, primarily because angle does not drift with time or temperature (unlike strength).

FIG. 11Aillustrates a close-up plan view of the pincher328showing magnetic angular detection according to some embodiments.FIG. 11Billustrates a close-up plan view of the wiper370and a magnetic angular detector according to some embodiments. The pincher328includes a paddle329disposed outside the body325and a wiper370disposed inside the body325. Referring toFIG. 11A, the paddle329laterally moves between a closed position329aand an open position329bso that the paddle329forms a pincer angle (θ) with respect to a surface of the handpiece body facing the paddle329. As the paddle329laterally moves between the closed position329aand the open position329b, the wiper370moves in an opposite direction between a substantially parallel position370aand an angled position370bas shown inFIG. 11A. When the paddle329and the wiper370move in opposite directions, the two pincher elements329and370maintain a substantially parallel and spaced-apart relationship with respect to each other as indicated by two parallel dotted lines371inFIG. 11A. In some cases, the paddle329and the wiper370may not be substantially parallel but would maintain a spaced-apart relationship. The paddle329and the wiper370may elastically move between the open position and the closed position via the compression spring348disposed inside the handpiece body or by other appropriate means, for example as described above.

In the closed position, the pincer angle (θ) may be generally zero, as the paddle329would contact the side surface of the handpiece body325. In the completely open position, the pincer angle (θ) may be about 12.5° to about 15°. Thus, the paddle329may move between the pincer angles in the range of 0° to 15°. However, the maximum pincer angle can be less than or greater than about 15° depending on the embodiment. The wiper370may generally form the same angle between the two positions370aand370bas the pincer angle, as the wiper370and the paddle329are fixed relative to each other.

In some embodiments, the magnet or magnetic target352may be attached to the wiper370. In such cases, the wiper370may or may not be formed of a metallic material, as long as the magnet352can be attached to the wiper370, for example, via adhesive. In some cases, the wiper370may be formed at least partially of a magnetic material. For example, a portion of the wiper370may be a magnet or the entirety of the wiper370can be a magnet. In such cases, no separate magnetic target needs to be attached to the wiper370.

The first PCB350may include a magnetic angular detector configured to detect an angular movement of the magnetic target352that rotates or laterally moves along with the wiper370about the pivot joint372(ergonomic features of the pivot joint and paddle design to be described at the “Handpiece Ergonomic Features” section later). In some cases, the magnetic angular detector can be implemented with, for example, integrated circuits (ICs) available from Monolithic Power Systems Inc. (MPS). The MPS ICs generally detect the absolute angular position of a permanent magnet, typically a diametrically magnetized cylinder on a rotating shaft. The MPS ICs can be tunable and can provide a robust solution. For example, the MPS ICs may achieve greater than about 9 bits of resolution over the 12.5° range of the pincer angle.

In some cases, the magnetic angular detector can be implemented with, for example, ICs available from Analog Devices Inc. (ADI). The ADI ICs can be an anisotropic magnetoresistive (AMR) sensor with integrated signal conditioning amplifiers and ADC drivers that can produce two analog outputs indicating the angular position of the surrounding magnetic field.

MPS ICs and ADI ICs are merely example magnetic angular detectors that realize the magnetic angular detection, and other magnetic angular detecting circuits can also be used as long as they can detect an angular movement of a magnet attached to or integrally formed with the wiper370. In some cases, the magnet352may include rare earth magnets. Rare earth magnets generally decay at a rate of less than 1% per decade. In some cases, any magnet could be used for the magnet352.

This method uses the concept of inductive or eddy current that is induced at an inductive coil when a metallic target moves over the coil. In some cases, the metallic target may be disposed in or integrally formed with the wiper, and move in an arced or curved path over the inductive coil disposed inside or outside the wiper. In some cases, the metallic target may be attached to or integrally formed with the paddle, and move in an angled path with respect to the inductive coil. For the purpose of convenience, the description will be made for the metallic target which is attached to either the wiper or the paddle (instead of being integrally formed with the wiper or the paddle). The inductive/eddy current detector is different from the magnetic angular detector in that the former does not require the use of a magnet. This method is also inherently resilient to outside electro-magnetic interference, as no magnet is required.

A. Inductive/Eddy Current Sensor for Detecting Target in Wiper

FIG. 12Aillustrates a conceptual diagram showing an angular magnetic detection method for a metallic portion or target369disposed in the wiper370according to some embodiments. The first PCB350shown inFIG. 11Bmay include an inductive detector that can detect a metallic target (or metallic portion) moving in an arced path with respect to an inductive coil disposed in the first PCB350. In some cases, the first PCB350may include both the magnetic angular detector and the inductive detector. In some cases, a separate PCB may be used to accommodate the inductive sensor.

The operation of an inductive detector for detecting a metallic target369at the wiper370is described with respect toFIG. 12A. The inductive detector may detect a curved or arced movement of the metallic target369, when the paddle329moves laterally from side portion of the body325. Referring toFIGS. 11A and 12A, the wiper370and the metallic target369move in a curved path between the two positions370band370aover a curved PCB coil layout382of the inductive detector, as the paddle329moves in a curved direction opposite to the curved path of the wiper370. The curved PCB coil layout382may be manufactured by bending a linear PCB coil layout into an arc track during PCB layout. The linear PCB track can be shaped to suit whatever path a metallic target takes.

The metallic target369disposed in the wiper379may move on substantially the same plane (or substantially parallel planes) as the plane on which the curved PCB coil layout382is positioned (for example, substantially coplanar). In some cases, to allow for different shapes of hand pieces, the metallic target369disposed in the wiper379may move on a different plan as the plan on which the curved PCB coil layout382is positioned. Therefore, the metallic target369can track the curved PCB coil layout382, as the wiper370moves in the curved path. As the metallic target369moves over the curved PCB coil layout382, electrical current is induced at the curved PCB coil layout382. The metallic target369may have a trapezoidal shape as shown inFIG. 12Ato more closely track the curved path over the curved PCB coil layout382.

In some cases, the PCB coil layout382may include one transmitter coil and two receiver coils in different paths. The inductive sensor may demodulate and process secondary voltages received at the receiver coils, and obtain a signal representing the metallic target's position. The inductive sensor can be implemented with, for example, ICs available from Integrated Device Technology, Inc. (IDT). The IDT ICs can compare voltage values received at two receiver coils, combine this comparison with the knowledge of their different paths, and may cancel out certain mechanical tolerances (for example, even if the metal target were a bit off angle and it would not severely impact the result).

B. Inductive/Eddy Current Sensor for Detecting Target in Paddle

The pincer angle may be detected by inductively sensing a movement of a metallic target disposed in the paddle. In some cases, the movement of the metallic target in the paddle may be sensed by a linear coil inductive sensor. In some cases, the movement of the metallic target in the paddle may be sensed by a spiral-shaped coil inductive sensor.

a. Linear Coil Inductive Detector

FIG. 12Billustrates a perspective view of a handpiece including a linear coil inductive detector383for sensing the movement of a metallic target387disposed in the paddle329according to some embodiments.FIG. 12Cillustrates a plan view of the handpiece including the linear coil inductive detector383ofFIG. 12B.FIG. 12Dillustrates a modified PCB coil layout385afor the linear inductive detector383shown inFIGS. 12B and 12Caccording to some embodiments.FIG. 12Eillustrates a standard PCB coil layout385bfor a linear coil inductive detector.

Referring toFIG. 12B, the linear coil inductive detector383may include a linear coil sensor384and a PCB coil layout385. Referring toFIGS. 12B and 12C, the inductive detector383is disposed inside the handpiece so that the PCB coil layout385faces the metallic target387disposed in the paddle329. In some cases, the inductive detector383or at least the PCB coil layout385of the detector383may be disposed inside the paddle329. In such cases, the metallic target may be disposed inside the handpiece body to face the PCB coil in the paddle329. Furthermore, when the PCB coil layout385is disposed inside the paddle329, the linear coil sensor384may be disposed inside the body.

When the paddle329moves between the closed position329aand the open position329b(see, for example,FIG. 11A), it does not directly approach nor directly move away from the PCB coil layout385. Instead, the paddle329moves with respect to the PCB coil layout385at an angle. Thus, the plane of the PCB coil layout facing the metallic target387would not be parallel to the plane of the metallic target387. Thus, unlike the metallic target369disposed in the wiper370that moves in parallel with respect to the PCB coil382, the PCB coil layout385and the metallic target387are not coplanar except that in the closed position of the paddle329, the target387and the coil layout385would be coplanar.

The operation of the linear coil inductive detector383is described with respect toFIG. 12C. InFIG. 12C, the paddle and wiper in the dotted lines represent that the paddle329and the wiper370are in a closed position. The metallic target387forms a pincer angle (θ) in an open position. As the paddle329laterally moves from the open position (θ) to the closed position (generally 0°), the metallic target387(for example, a middle portion thereof) moves with respect to the PCB coil layout385from a position A to a position B on the PCB coil layout385. Furthermore, as the paddle329laterally moves from the closed position to the open position (θ), the metallic target387moves with respect to the PCB coil layout385from the position B to the position A on the PCB coil layout385. In some cases, the inductive sensor384may process secondary voltages received at the receiver coils on the PCB coil layout385, and obtain a signal representing the position of the metallic target387. In some cases, the inductive sensor384can be implemented with, for example, ICs available from IDT.

In some cases, the PCB coil layout may have a modified linear coil layout385ashown inFIG. 12D. The non-coplanar nature of the metallic target387with respect to the PCB coil layout385may become more substantial as the pincer angle becomes greater, and may become less substantial or insignificant as the pincer angle approaches zero. The modified PCB coil layout385amay adjust the change in output of the sensor384due at least to the change in proximity to the metallic target387so that the output may become substantially the same as the standard linear layout385bshown inFIG. 12E. In some cases, an additional adjustment may be made by a further modification to the modified PCB coil layout385aand/or by a processor in order to further compensate the non-coplanar nature of the movement of the metallic target387. This additional adjustment by the processor may be made to the modified coil layout385aor the standard coil layout385b.

In some cases, the metallic target387may also have a modified shape in order to at least partially compensate the non-coplanar nature of the movement of the metallic target387with respect to the PCB coil layout385. For example, the metallic target387may have a generally trapezoidal shape (not shown) that is generally inverse with respect to the modified PCB coil layout385ashown inFIG. 12D. For example, the trapezoidal shape of the metallic target387may have the height of the left side smaller than the height of the right side, unlike the trapezoidal shape of the modified PCB coil layout385awhere the height of the right side is smaller than the height of the left side. In some cases, paddle329may be modified such that a curvature of paddle or at least the inside face of paddle (the side of the paddle facing the body of the handpiece) may be slightly curved as opposed to being linear (as shown in the drawings, see for exampleFIG. 4A). The metallic target387would also follow this curvature. In some cases, only the metallic target387would be modified to be curved. This curvature of the paddle, paddle face and/or the metallic target387would provide a different amount of area of the metallic target that would be substantially coplanar with the PCB coil layout385as the pincher is depressed (moved laterally). The curvature could compensate the non-coplanar nature of the movement of the metallic target392with respect to the PCB coil layout385. The described modifications are merely examples, and other modifications to the PCB coil layout385, the metallic target387, positioning of the PCB coil layout, curvature of the PCB coil layout and/or the modification by a processor may also be made so that the metallic target may follow a substantially coplanar moving path with respect to a sensor coil or at least the output from the inductive sensor follows a more standardized output.

b. Spiral Coil Inductive Detector

FIG. 13Aillustrates a perspective view of a handpiece including a spiral coil inductive detector394(sensor circuitry not shown; hereinafter to be interchangeably used with “spiral coil layout”) for sensing the movement of a metallic portion or target392disposed in the paddle329according to some embodiments.FIG. 13Billustrates a plan view of the handpiece including the spiral coil inductive detector394ofFIG. 13A.FIG. 13Cillustrates a modified coil layout394afor the spiral inductive detector394shown inFIGS. 13A and 13Baccording to some embodiments.FIG. 13Dillustrates a standard coil layout394bfor a spiral coil inductive detector.

Referring toFIGS. 13A and 13B, the inductive detector394is disposed inside the handpiece body so as to face the metallic target392disposed in the paddle329. In some cases, the spiral coil layout394may be disposed inside the paddle329. In such cases, the metallic target may be disposed inside the handpiece body to face the coil layout in the paddle329.

The operation of the linear coil inductive detector383is described with respect toFIG. 13B. Referring toFIG. 13B, as the paddle329laterally moves from the open position (θ) to the closed position (the paddle in the dotted lines shows that the paddle is positioned in the pincer angle being generally 0°), the metallic target392(for example, a middle portion thereof) moves with respect to the coil layout394from a position A to a position B on the coil layout394. Furthermore, as the paddle329laterally moves from the closed position to the open position (θ), the metallic target392moves with respect to the coil layout394from the position B to the position A on the coil layout394. The inductive sensor circuitry may process secondary voltages received at the receiver coils on the spiral coil layout394, and obtain a signal representing the position of the metallic target392.

As described herein with respect toFIGS. 12B-12E, the non-coplanar nature of the metallic target392with respect to the coil layout394may become more substantial as the pincer angle becomes greater, and may become less substantial or insignificant as the angle approaches zero. In some cases, the spiral coil layout may have a modified coil layout394ashown inFIG. 13C. The modified coil layout394amay have an elliptical shape. The modified coil layout394amay adjust the change in output of the sensor due at least to the change in proximity to the metallic target392so that the output may become substantially the same as the standard linear layout394bshown inFIG. 13D. In other cases, at least some portion on the right half of the spiral coil (for example, the right end portion of the coil) may be bent toward or away from the paddle329in order to additionally compensate the non-coplanar nature of the movement of the metallic target392with respect to the PCB coil layout394. In some cases, the paddle329and/or the metallic target392may be curved similarly as described above with respect to the “Linear Coil Inductive Detector”.

In some cases, an additional adjustment may be made by a further modification to the modified PCB coil layout385aand/or by a processor in order to further compensate the non-coplanar nature of the movement of the metallic target392. This additional adjustment by the processor may be made to the modified coil layout394aor the standard coil layout394b. In some cases, the spiral coil inductive sensor can be implemented with, for example, ICs available from Texas Instruments Inc. (TI).

In some cases, the metallic target392may also have a modified shape in order to at least partially compensate the non-coplanar nature of the movement of the metallic target392with respect to the PCB coil layout394. For example, the metallic target392may have a generally elliptical shape (as opposed to a circular shape) similar to the spiral coil394a. Furthermore, at least a portion of the metallic target392(for example, a right half) may be bent toward the coil394to compensate the non-coplanar nature of the movement of the metallic target392with respect to the PCB coil layout394. The described modifications are merely examples, and other modifications to the PCB coil layout394and/or the metallic target392(including modification by a processor) may also be made so that the metallic target may follow a substantially coplanar moving path with respect to a sensor coil.

In some cases, the coil layout may instead be included on or inside the paddle329(not shown). In place of PCB traces to produce the coils used for inductive sensing, metal shapes on the inside walls of the paddle329or inside the paddle may be used. Laser direct structuring (LDS) may be utilized to produce the metals shapes as LDS is appropriate for extremely small and space constrained applications. The LDS metal may directly replace the PCB coil, but all of the described restrictions may apply (coplanar vs proximity, minimum inductance, etc.).

The pincer angle can also be detected by a proximity sensor. The proximity sensor can measure the distance between a sensor coil and a metallic target, as opposed to measuring a coplanar (or substantially coplanar) travel of the metallic target. For example, the proximity sensor can directly detect the position of the paddle329with respect to the surface of the handpiece body facing the paddle329. This method is inherently resilient to outside electro-magnetic interference and simplifies the mechanical design, by not requiring an external effector (magnet) and by detecting the paddle's movement directly. In some cases, the proximity sensor can be implemented with, for example, ICs available from Texas Instrument (TI).

In some cases, the proximity sensor may be disposed inside the handpiece body to face the paddle329. In some cases, as shown inFIG. 14, the proximity sensor can be formed by layering coils across multiple PCB layers. This design may be advantageous, since the sensor geometry is generally more flexible, and thus is useful when there is not much space like in a handpiece. Accordingly, the greater distance of the paddle makes the TI chip a better candidate. In some cases, the proximity sensor may be disposed inside the paddle329to face a side surface of the handpiece body.

In some cases, the proximity sensor can be implemented with, ICs available from IDT. In such cases, the IDT ICs may be positioned inside the handpiece body, and a metallic target would be in or on the paddle329. As the paddle329is compressed, the metallic target would move toward the IDT ICs and the detected signal may generally become stronger as the paddle329approaches the handpiece body. This is a variation of the traditional use of the IDT ICs that usually just detect a linear travel (not proximity). It could detect proximity as the detected signal would change (become stronger) but the detected signal would not follow a linear path but rather a non-linear or log path. However, with the variables known, the signal could be determined. The TI sensor may be a better proximity sensor than the IDT sensor, as the TI chip may be configured to increase the effective coil length (for example, adding more PCB layers). Both of the TI and IDT sensors may require some minimum inductance. The inductance is generally proportional to the amount of a PCB coil on the sensor that is laid out.

In some cases, the coils used for inductive sensing can be implemented as PCB traces. In some cases, as shown inFIG. 14, the coils can be implemented as metal shapes380on the inside walls of the handpiece itself. This technique is referred to as laser direct structuring (LDS), and may be utilized for an extremely small and space constrained RF antenna. The choice of a TI or IDT sensor may depend on whether the tail or the paddle is used as a target. The TI product may need less internal processing. These more ‘raw’ values would make this implementation easier to iron out. The LDS metal may directly replace the PCB coil, but all of the described restrictions may apply (coplanar vs proximity, minimum inductance, etc.).

The pincer angle may be obtained by directly detecting the compression of the spring348that provides resistance to the paddle329(see, for example,FIG. 11B). In this case, an inductor may be a charged coil of wire, and a spring may be a stiff coil of wire. If the spring were charged with an alternating current, it would behave like an inductor. Compression of the spring would lead to a linear change in inductance. Post processing may be used to linearize the output of an inductance sensor. In some case, the spring can have an explicit inductor to meet the minimum inductance. The spring method can be advantageous, as it is inherently linear. Referring toFIG. 33, the inductance of a coil (or spring)345is given by the equation below. When the spring345is compressed, its length changes (small l) so that it has a linear effect on the inductance. This can be described by the equation below.

Where,=Inductance of coil in HenrysN=Number of turns in wire coil (straight wire=1)μ=Permeability of core material (absolute, not relative)μr=Relative permeability, dimensionless (μo=1 for air)μo=1.26×10−6T·m/At (permeability of free space)A=Area of coil in square meters=πr2l=Average length of coil in meters
Presence Detection

As described herein, a handpiece controls the movement of a surgical instrument. Thus, it is desirable for a safety purpose to activate the handpiece when it is safe, for example, when it is grasped by or adjacent to an operator's hand. The presence detector can detect whether a user's hand is present on or within a certain distance of the handpiece. In some cases, such distance may be a few millimeters, a few centimeters, or a few inches. In some cases, the presence detector may detect an operator's hand contacting the handpiece.

In some cases, the presence detector can be a capacitive proximity sensor and can be disposed on a PCB on the center mount342(see, for example,FIG. 10). The presence detector can be implemented with two redundant sensors for additional safety purposes. The redundant sensors may charge the lower and upper housings324and322(formed of metal) and use them as their antenna or sense-element. In some cases, the presence detector can be a metallic coating or a metal shell underneath the hard plastic shell of the handpiece to effectively create a large capacitive proximity sensor. The presence detector can be implemented with, for example, ICs available from Microchip Technology Inc.

In some cases, instead of using a metal shell or coating, a wire, as shown inFIG. 14, may be formed throughout the length of the inside of the handpiece to effectively create an antenna. In such cases, coverage may be less uniform than on a primary path, but there may be potential manufacturing advantages. The presence detector may also detect a gloved hand and a double-gloved hand. The presence detector can calibrate the sensor to detect proximity even when a user is lightly touching the handpiece or not touching it all, for example, a few millimeters away. The presence detector may also be able to detect and differentiate between various materials, for example, whether a hand is within a desired proximity (directly coupled or within a tolerated distance), a gloved hand is within the desired proximity or whether a different unwanted object is within the desired proximity. This may be important to avoid unintended contact of the handpiece and to only allow presence to be detected when a hand (or gloved hand) of the operator is within the desired proximity. The advantage of this mode is that the handpiece does not clutch out or disengage from controlling the surgical system when a user moves the fingers or hand on the handgrip.

Input Control Interfaces

User or operator inputs may be provided to the robotic surgery system100in a number of different ways. For example, movement of the handpieces122and124can be used to provide a user input for controlling a tool such as a surgical instrument or a camera. As another example, the foot pedal126disposed at a lower portion of the workstation102may provide a user input used to perform a certain function such as instrument clutching.

Another user input (hereinafter to be interchangeably used with “additional user input” or “second user input”) may be provided via the input control interface326adisposed on an upper surface of the handpiece body. The input control interface326a(see, for example,FIG. 3B) may be configured to control a number of functions for the robotic surgery system100. The input control interface326amay receive an input used to control a surgical instrument. The input control interface326amay also receive another input used to zoom in or zoom out a camera. The input control interface326amay further receive another input used to turn on and off an illuminator. The input control interface326amay also be used to provide a user input that can be provided by other input mechanism such as the foot pedal126. In this case, since the input control interface326ais positioned in the handpiece grasped by an operator during operation, a user input may be more conveniently and/or more accurately provided than the foot pedal126. The input control interface may be implemented by a mechanical switch, a button, a lever, a wheel, a trackpad or a capacitive touch surface. For the purpose of convenience, shared input control, gesture control and handpiece feedback control below will be described using a trackpad or a touch capacitive surface.

In some cases, the second PCB326(see, for example,FIG. 10) can include a trackpad326aas an input control interface. The trackpad326amay be disposed on the upper surface of the handpiece122. The trackpad326acan be used to receive an additional user input such as camera control or instrument clutch where instrument control is disengaged. The trackpad326acan also be used for direct gesture recognition with a variety of gestures (hereinafter to be interchangeably used with “tool functions”). For example, the trackpad326acan detect swipe of an operator's finger thereon in either direction, swipe and hold in either direction, tap, tap and hold, multiple taps, or multiple taps and hold. In some cases, the trackpad326amay be sized to receive an input by a fingertip of an average operator's finger (for example, index finger or thumb).

The trackpad326a(including a trackpad driver) can be implemented with, for example, ICs available from Azoteq of South Africa. The Azoteq ICs may be configured to provide data over Inter-Integrated Circuit (I2C), which can allow the workstation to interpret the gestures. In some cases, as shown inFIG. 15, the trackpad326acan use PCB traces placed in a grid pattern326bas sensing elements.

2. Capacitive Touch Surface

In some cases, the second PCB326can include a capacitive touch surface326ainstead of or in addition to the trackpad (for example, one trackpad and one capacitive touch surface in different locations).FIG. 17Ashows an example capacitive touch surface. Referring toFIG. 17A, the capacitive touch surface326amay be smooth and glossy. The capacitive touch surface326amay be made by, for example, pad printing. The capacitive touch surface326acan be a capacitive touch IC to directly create a capacitive slide element. In some cases, as shown inFIGS. 16A and 16B, three or four capacitive touch elements386and388(for example, as individual capacitive buttons) can be provided. AlthoughFIGS. 16A and 16Bshow chevron (or ‘V’ shapes) and rectangular shapes, the capacitive touch elements386and388may have other shapes such as line, square, circle, oval or other polygonal shapes. Furthermore, the number of capacitive touch elements may be less than three or more than four depending on the requirement of the touch input surface326a. In some cases, the capacitive touch surface326amay be sized to receive an input by a fingertip of an average operator's finger (for example, index finger or thumb).

The capacitive touch surface (including a capacitive touch surface driver) can be implemented with, for example, ICs available from Microchip. In this Microchip device, multiple capacitive touch elements can be read by a series of digital logic implemented as a complex programmable logic device (CPLD) (conceptually similar to a field-programmable gate array (FPGA)) that is programmed only once) to recognize the desired gestures. The Microchip device can be configured to provide data over I2C, which can allow the workstation to interpret the gestures.

In some cases, as shown inFIGS. 17B and 17C, the capacitive touch driver circuitry can be placed directly underneath the gesture area.FIG. 17Cshows a cross-sectional view of the second PCB326that includes a capacitive touch surface326aand its drive circuitry. The second PCB326may include a capacitive touch IC359and an adhesive357on which the capacitive touch surface326ais attached. Other circuit components361may also be disposed below the capacitive touch IC359.

In some cases, the second PCB326can include a capacitive button (not shown) that can toggle between two states, for example, between instrument and camera modes. The capacitive button can use in single or double-click (or multiple-click) mode. For the input button/switch, a capacitive slider may be used for clutch control from a handpiece, although a single cap button could be acceptable with pressure sensitive input (flex). The capacitive slider may be controlled by a microprocessor. The use of a microprocessor may be beneficial as being inherently more tunable or customizable. The same microprocessor can be used to control presence detection. The microprocessor may also be able to drive the haptic engines.

3. Force Sensitive Resistor

The touch input interface326amay be implemented by a force sensitive resistor. The force sensitive resistor may be incorporated underneath the touch area, and can be made more robust and user friendly. If a click gesture is required, a capacitive element in addition to the pressing element can be triggered. This button can make a capacitive touch button feel like a real button.

Shared Input Control

In some cases, in order to minimize the number of input controls required to cause movement of various aspects of a robotic surgical system, certain input controls may be shared. This may reduce overall system clutter, such as inadvertent control and/or cognitive overload.

In some cases, the same trackpad326acan be used to perform functions of two or more input controls. When an input control is used to control a first feature/function (for example, instrument clutch), a second feature/function (for example, camera control) may be disabled. In some cases, the second feature/function and first feature/function may be operated mutually exclusively and separately at all times. That is, the same input control interface can be used to control two or more different devices such as a camera and a clutch at different times.

FIG. 18illustrates a flowchart for a shared input control process500according to some embodiments. Referring toFIG. 18, the shared input control process500for a handpiece will be described.

Although the process500is described herein with reference to a particular order, in various implementations, states herein may be performed in a different order, or omitted, and additional states may be added. The process500may be performed by a processor (not shown). This also applies to the processes600-900shown inFIGS. 19, 21, 22 and 26.

In state410, it is determined whether an operator input has been received at a first state or mode. The operator input can be received through the input control interface326a(see, for example,FIG. 3B). The first state or mode may be a first device operation state or mode, for example, a camera control operation mode or an instrument clutch mode.

The input control interface326amay be a trackpad or a capacitive touch surface as described herein. The trackpad may recognize at least one of the following types of operator inputs: swipe from a first side of the trackpad to a second side of the trackpad different from the first side, tap, swipe and hold, tap and hold, multiple taps, or multiple taps and hold, or a combination thereof. The processor may perform different functions based on the swipe, the swipe and hold, the tap, the tap and hold, the multiple taps, and the multiple taps and hold. The capacitive touch surface may include at least one capacitive button that can sense a single-click or a double-click (or multiple-click), and the processor may perform different functions based on the single-click or multiple-click. The description of this paragraph applies to a camera control process600shown inFIG. 20and an instrument clutch process700shown inFIG. 22.

If it is determined in state410that the operator input has not been received at the first state, the state410may repeat. If it is determined in state410that an operator input has been received at the first state or mode, the processor may control a first function at the first state while the second function is disabled at a second state (state420). For example, the processor may control enabling and disabling a camera control function in a camera control mode while an instrument control by the handpieces122/124is disabled so that the surgical instrument(s) would not move even if the handpieces122/124are moved.

In state430, it is determined whether the first state has been changed to the second state or another different state. The first state can be changed to the second state or another different state by actuating the input control interface326. For example, a camera control operation mode can be changed to an instrument clutch operation mode. If it is determined in state430that the first state has not been changed to the second state, the states420and430may repeat.

If it is determined in state430that the first state has been changed to the second state, the processor may control the second function at the second state while the first function is disabled. For example, the processor may control enabling and disabling an instrument clutch control function in the instrument clutch mode while the camera operation is disabled (state440) so that the camera would not move even if the handpieces122/124are moved.

1. Camera Control

FIGS. 19A and 19Billustrate conceptual diagrams showing a camera control operation according to some embodiments.FIG. 20illustrates a flowchart for a camera control process600shown inFIGS. 19A and 19Baccording to some embodiments.

Referring toFIG. 20, it is determined whether an operator's finger has been swiped forward and held on the input control interface326aof the handpiece122(state450). In some cases, as shown inFIG. 19A, swiping of the operator's finger390from a point A to a point B on the input control interface326acan be determined by: i) detecting a contact of the operator's finger390on the point A; ii) detecting that the finger390has remained in contact with the input control interface326aand moved to the point B; and iii) detecting that the finger390remains at the point B. If it is determined in state450that the operator's finger has not been swiped and held, the state450may repeat.

If it is determined in state450that the operator's finger390has been swiped forward and held on the input control interface326a, an association of the input devices132/112with the surgical instruments becomes disabled, the instruments become disabled, and at least one of the input devices132/112becomes associated with a camera (state460). That is, the camera control operation is turned on as shown inFIG. 19A.

In state470, the camera is controlled by repositioning and/or reorienting at least one of the input devices132/112. Since the instruments have been disassociated from the input devices132/112, repositioning and/or reorienting the input devices132/112would have no impact on the surgical instruments (disabled). In some cases, there may be only one camera at the surgery site, and only one of the input devices132/112may control the camera. In these cases, movement of the other input device may have no impact on the camera. In some cases, both of the input devices132/112may be used to move the camera by either locking the relative movement of each of the input device132/112to each other or averaging the movement of the input devices.

In state480, it is determined whether the operator's finger has been released from the point B of the input control interface326a, as shown inFIG. 19B. If it is determined in state480that the operator's finger has not been released, the states470and480may repeat.

If it is determined in state480that the operator's finger390has been released from the point B, an association of the input devices132/112with the camera becomes disabled, the camera becomes disabled, and at least one of the input devices132/112becomes associated with the surgical instruments (state490). That is, the camera control operation is turned off as shown inFIG. 19B. In some cases, control of the instruments may occur automatically upon the camera turning-off or upon another subsequent intervening event such as tapping the foot pedal126.

The described operator inputs (swiping forward and held/release) and corresponding controls (turning on and off the camera control) are merely examples, and many other combinations of input types by the input control interface and corresponding controls are possible. For example, operator inputs such as tap, tap and hold, multiple taps, multiple taps and hold, swiping backward, swiping backward and hold, multiple swiping (forward or backward), multiple swiping (forward or backward) and hold, or combinations thereof can be used to turn on or turn off the camera control operation. Furthermore, operator inputs may be received via other input interfaces such as a mechanical switch or button, a lever, self-centering wheel, or other non-trackpad or non-touch capacitive surface, as long as the same input control interface can share input controls for multiple functions associated with one or more surgical devices. The description of this paragraphs applies to the instrument clutch operation procedure below.

FIGS. 21A and 21Billustrate conceptual diagrams showing an instrument clutch operation according to some embodiments.FIG. 22illustrates a flowchart for an instrument clutch process700shown inFIGS. 21A and 21Baccording to some embodiments.

During operation of an input device, an operator frequently will reach the physical limits of repositioning the input device based on the mechanical limits of the device itself or the operator's arms. Thus, instrument clutching is advantageous when repositioning the input devices to enable a greater workspace. To allow the operator to “reset” or “re-center” their workspace, the operator would clutch to release association of the input device with a controlled slave instrument. Upon clutching, the input device may be repositioned while the instruments remain fixed. Upon unclutching, the association would be reestablished. Any errors introduced upon re-association such as orientation misalignment between the input device orientation and that of the instrument end-effector may be corrected by methods described in U.S. Patent Publication No. 2018/0271607 and U.S. Patent Publication No. 2018/0367777, which are assigned to the assignee of the present application and the disclosures of which are incorporated by reference in their entirety.

Referring toFIG. 22, it is determined whether an operator's finger390has been swiped backward on the input control interface326aand released therefrom (state510). In some cases, as shown inFIG. 21A, swiping of the operator's finger390from a point B to a point A on the input control interface326acan be determined by: i) detecting a contact of the operator's finger390on the point B; ii) detecting that the finger390has remained in contact with the input control interface326aand moved to the point A; and iii) detecting that the finger390has been released from the point A. If it is determined in state510that the operator's finger has been swiped backward and released, the state510may repeat.

If it is determined in state510that the operator's finger390has been swiped backward and released from the point A on the input control interface326a, an association of the input devices132/112with the surgical instruments becomes disabled and the instruments become disabled (state520).

In state530, the input devices132/112are repositioned without moving the instruments. Since the surgical instruments have been disassociated from the input devices132/112in state520, the movement of the input devices132/112would have no impact on the instruments.

In state540, it is determined whether an operator's finger390has been swiped backward again on the input control interface326of the handpiece122and released therefrom (state510). This can be determined in the same way as described with respect to state510. If it is determined in state540that the operator's finger has not been swiped backward and released, the states530and540may repeat.

If it is determined in state540that the operator's finger390has been swiped backward and released again from the point A on the input control interface326, an association of the input devices132/112with the surgical instruments is re-enabled (state550). See alsoFIG. 20B. Since the surgical instruments have been associated with the input devices132/112, the movement of the input devices132/112will move the instruments.

In some cases, control of the instrument may occur automatically upon de-clutching or upon another subsequent intervening event such as tapping the foot pedal126.

Gesture controls (hereinafter to be interchangeably used with “tool function controls”) using a trackpad326a(see, for example,FIG. 10) or another secondary control interface can be used to cause the system to function in various ways including causing the system to perform pre-set routines and functions. For example, swiping of the finger from one side to the other on the trackpad326amay cause the surgical instrument to become locked in the state it is presently in (for example, one or more jaws of the instrument fixed in that position). This may be useful for situations where the user desires the surgical instrument to continue to grasp whatever it is grasping while the user repositions the input device. In other examples, certain gestures may cause the system to perform a preset routine such as certain surgery routines. Such gestures and resultant “auto” features may help reduce user fatigue.

FIG. 23illustrates a flowchart for the gesture control process800according to some embodiments. The gesture control process800may be performed by a processor (not shown). Referring toFIG. 23, the gesture control process800will be described.

In state610, it is determined whether an operator input has been received. The operator input can be received via the input control interface306aor326a(see, for example,FIGS. 3A and 3B). If it is determined in state610that the operator input has not been received, the state610may repeat.

If it is determined in state610that an operator input has been received, it is determined whether the received operator input relates to one or more of a plurality of gestures or tool functions (state620). The predetermined gestures or tool functions may include a predetermined surgery routine such as suturing (partial or complete suturing), cutting, grasping or moving in a predetermined direction. The suturing may include complete suturing and partial suturing. The predetermined surgery routine may also include moving the surgical tool in a predetermined direction. The predetermined direction may include a linear direction, a curved direction, a clockwise direction, a counterclockwise direction, semi-circular direction, or a circular direction. In some cases, the predetermined direction may be based on the pattern of the swipe/gesture itself (for example, a curved gesture may result in a movement in a curved direction). The tool functions may also include causing a lens of a camera to be washed, causing the camera to zoom in and out, causing the camera to pan, or causing the camera to tilt.

When the input control interface326ais a trackpad, the trackpad may sense swiping of an operator's finger from a first point on the trackpad to a second point on the trackpad different from the first point, and the processor may control the surgical tool to remain adjacent to a current surgery position. For example, the processor may control the surgical tool to become locked in the current surgery position. The predetermined tool functions corresponding with the operator inputs may be stored in a memory being in data communication with the processor.

If it is determined in state620that the operator input relates to the predetermined tool functions, the processor may perform the predetermined tool functions (state630). If it is determined in state620that the operator input does not relate to the predetermined tool functions, the processor may perform normal input control functions that are not associated with the predetermined tool functions (state640).

Handpiece Feedback Control

When an operator operates the input devices, the handpiece may provide a feedback to the operator. In some cases, the feedback may be provided when the operator switches a function from a first mode to a second mode different from the first mode. The feedback may include a haptic feedback, a visual feedback, an audio feedback, a tactile feedback or a force feedback, or a combination thereof. This feedback function may be useful to an operator or user since they can be notified when a function is switched between different modes. This may enhance safety, as the operator can be assured by the feedback that their input has been properly received by the system, and thus he or she is in a certain operation mode that is intended. The feedback device may be located in a portion of the handpiece that would contact the palm of the user to facilitate a better or more significant feel of the feedback. Types of actuation provided by the feedback device may be different for each function, for example, to allow the user to determine which function they have enabled based on feedback alone. Types of feedback may be configurable by the user. Users may want to enable the change based on personal preference especially in view of signals/patterns they are familiar with in a non-surgery environment, for example, car, phone or tablet, etc. In some cases, a driver or controller of the feedback device may be located outside the handpiece, for example, somewhere in the workstation102, whereas an actuator of the feedback device may be located in the handpiece, as long as an operator may be provided a feedback by the handpiece upon a function change. In some cases, multiple feedback devices may be included in the handpiece at different locations to make it easier for the user to better recognize the feedback and/or distinguish the various types of feedback. For example, a first feedback device may be included in the portion of the handpiece that would contact the palm while a second feedback device may be included in a portion of the handpiece near a location contacted by the user's thumb or proximate the distal portion of the handpiece (as shown inFIG. 25Anear344).

FIG. 24illustrates a flowchart for a handpiece feedback control process900according to some embodiments. The process900may be performed by a processor or controller. Referring toFIG. 24, the handpiece feedback control process900will be described.

In state810, it is determined whether a function has been switched from a first mode to a second mode. During operation, an operator may switch a function between modes. In some cases, the function switching may be sensed by the input control interface326a. The function may include controlling a camera that images a surgery site, instrument clutching to reposition the hand grip apparatus, pre-set surgery routines, or other operation to control the surgical tool. In some cases, when the function is controlling the camera, the first mode may be enabling the camera control and the second mode may be disabling the camera control. In some cases, when the function is instrument clutching, the first mode may be enabling instrument clutching and the second mode may be disabling the instrument clutching. The function switching may originate in the hand grip apparatus122/124or the foot pedal126of the robotic surgery system100. A function switch can originate in the handpiece and/or the foot pedal126. If it is determined in state810that the function switching has not occurred, the state810may repeat.

If it is determined in state810that the function has been switched from the first mode to the second mode, the processor may provide a feedback to an operator (state820). The feedback may include haptic, visual, audio, tactile, force or any other feedback, or a combination thereof, that can notify the operator about the mode change. After the feedback is provided, the handpiece may operate at the second (different) mode (state830). For example, when an association of the camera with handpieces is re-enabled, the operator may continue to control the camera with the use of at least one of the handpieces.

In state840, it is determined again whether a function has been switched from the second mode to another mode (such as the first mode or third mode). If it is determined in state840that the function has not been switched from the second mode to another mode, the states830and840may repeat. If it is determined in state840that the function has been switched from the first mode to the other mode, the processor may provide a feedback to the operator (state850). The processor may perform the states840and850substantially the same way as with states810and820.

The handpiece feedback device can include a haptic feedback device. In some cases, the haptic feedback device may include a haptic actuator and a haptic driver. The haptic actuator may include a motor or actuator available from Texas Instruments. The haptic actuator may provide a haptic feedback in the form of vibration. The haptic driver (processor or controller) may drive the haptic actuator to provide a vibrational feedback when a robotic surgery function is switched from a first mode to a second mode.

The vibrational feedback may have a variety of different vibration patterns. For example, the vibration can have different strength levels, different durations, directions or intervals (if multiple vibrations involved). Furthermore, different types or patterns of vibration may be used for different mode switching and may be user configurable. Alternatively, the same vibration can be used for all mode switching.

In some cases, the haptic driver may be implemented with, for example, ICs available from Texas Instruments. The TI ICs may be I2C controlled and can be triggered by the workstation.

In some cases, as shown inFIG. 25A, the haptic feedback device344can be mounted directly in front of the gesture area, for example, on the center mount342of the handpiece. In some cases, as shown inFIG. 25B, the haptic feedback device344can be mounted in the lower handle/grip element (for example, inside the lower region of the upper and lower housings324and322). However, the haptic feedback device344can be mounted in any other region in the handpiece, as long as it can provide a haptic feedback, when the user switches from one mode to another. In some cases, the haptic actuator may be provided inside the handpiece, and the haptic driver may be positioned outside the handpiece, for example, somewhere in the workstation102where the haptic driver can remotely control the haptic actuator. In some cases, multiple haptic actuators may be provided inside the handpiece, for example as shown in bothFIGS. 25A and 25Bat344.

2. Visual Feedback

The handpiece feedback device can include a visual feedback device. The visual feedback device may include a light source and a controller (not shown). The controller may sense whether a function is switched between different modes and control the light source to emit light based on the sensed function switching. The light source may be any light emitter or generator such as an LED. The light source may be disposed around the input control interface326a. However, the light source can be disposed in any other location in the handpiece as long as light emitted by the light source can be recognized by an operator. The light source can emit light in a single color or multiple colors. The light source can emit light having a particular shape. The different shapes and/or colors of light may be emitted according to different modes of the function to be switched and may be user configurable.

3. Audio Feedback

The handpiece feedback device can include an audio feedback device. The audio feedback device may include a speaker and a controller (not shown). The controller may sense whether a function is switched between different modes and control the speaker to make sound based on the sensed function switching. The speaker may be disposed around the input control interface326a. However, the speaker can be disposed in any other location inside or outside the handpiece as long as sound can be heard by an operator. The sound can have a variety of patterns, in terms of types of sound, volume levels, sound duration or interval (if multiple types of sound involved). The different types of sound may be output according to different modes of the function to be switched and may be user configurable.

The handpiece feedback device can include a tactile feedback device configured to provide a tactile feedback in response to the function switching. The tactile feedback may include a variety of types of feeling that an operator may have on a portion of the handpiece. The portion of the handpiece may be the input control interface326aor any other location in the handpiece where an operator can recognize a tactile feedback. The tactile feedback may include one or more of: a bump, a beak, a grove, a lip, or a texture difference (for example, course finish to smooth finish in the input control interface326a). The different types of tactile feedback may be provided according to different modes of the function to be switched and may be user configurable.

5. Force Feedback

The handpiece feedback device can include a force feedback device configured to provide a tactile feedback in response to the function switching. The force feedback may include a variety of types of force that an operator may sense on a portion of the handpiece. The portion of the handpiece may be the input control interface326aor any other location in the handpiece where an operator can recognize a force feedback. The force feedback may include a self-centering wheel.

Handpiece System Block Diagram

FIG. 26illustrates a block diagram of a handpiece1000according to some embodiments. Referring toFIG. 26, the handpiece1000includes a proximity detector910, a slider board920, a haptic feedback device930, a pincher encoder940including a magnetic angular encoder940aand/or an inductive sensor940b, and a communication board950. Although a number of separate components are illustrated inFIG. 26, those of skill in the art will recognize that one or more of the components may be combined or commonly implemented. For example, the proximity detector910, the magnetic angular encoder940and/or the inductive sensor950may be implemented in a single PCB, for example, the first PCB350or the second PCB326described with respect toFIG. 10. Further, at least one of the components illustrated inFIG. 26may be implemented using a plurality of separate elements or may be omitted. As another example, all of the components910-950may be implemented in a single PCB. Another processor or controller, disposed either inside or outside the handpiece1000, may also be used to control one or more of the components910-950.

In some cases, all of the components910-950may be disposed inside the handpiece900. In some cases, at least one of the components910-950may be disposed outside the handpiece900, for example, somewhere in the robotic surgery system100such as in the workstation102(see, for example,FIG. 1). AlthoughFIG. 26shows that all of the components910-950communicate data with each other via a wired network, at least one of the components910-950may wirelessly communicate data with one or more of the remaining components.

The proximity detector or presence detector910may detect whether a user's hand is present within a certain distance of the handpiece900. The proximity detector910may provide a detected result to the communication board950so that a corresponding control (for example, activating or deactivating the handpiece) may be subsequently performed based on the detected result. The presence detector910may provide a general purpose output such as simple digital high's and low's to the communication board950. The proximity detector910can be implemented with, for example, a capacitive proximity detector available from Microchip as described herein.

The slider board920may be used to drive the input control interface326asuch as a trackpad or capacitive touch surface described herein. The slider board920may provide a sensed result to the communication board950so that a corresponding control (for example, gesture control, shared input control, additional input control) may be subsequently performed based on the sensed result. The slider board920may be implemented with, for example, the ICs available from Microchip as described herein.

The haptic feedback device930may provide a haptic feedback to an operator, when the operator switches a function from a first mode to a second mode different from the first mode as described herein. Although not shown inFIG. 26, at least one of other feedback devices (visual feedback device, audio feedback device, tactile feedback device or force feedback device) may also be included in the handpiece1000. The haptic feedback device930may provide a haptic feedback to an operator via the communication board950. The haptic feedback device930can be implemented with, for example, the ICs available from Texas Instruments as described herein.

The pincher encoder (or pincher angle detector)940may magnetically or inductively detect a pincer angle and provide the detected result to the communication board950so that a corresponding control (for example, control of jaw movement of a surgical instrument) may be subsequently performed based on the detected result. The pincher encoder940may include the magnetic angular detector940aand/or the inductive sensor940b.

The magnetic angular detector940amay detect an angular movement of a magnetic target attached to or integrally formed with the wiper370shown inFIGS. 10-11B. The magnetic angular detector940amay be implemented with, for example, the MPS ICs or ADI ICs as discussed herein.

The inductive sensor940bmay detect a pincer angle by inductively sensing a movement of a metallic target formed in the wiper370or the paddle329. The inductive sensor940bmay be implemented with, for example, the TI ICs or IDT ICs as discussed herein.

The communication board950may be used to communicate data with the components910-940, or devices external to the handpiece1000. The communication board950may be implemented with, for example, ICs available from NXP Semiconductors. The NXP ICs may convert all data to a differential I2C format. The slider board920and the pincher encoder940may use a shared I2C bus for communication with the communication board950. However, the present disclosure is not limited to the I2C protocol, and other communication protocols such as serial peripheral interface (SPI) or System Management Bus (SMBus) could also be used. Furthermore, simple quadrature encoding could be used for the pincher encoder940.

Handpiece Ergonomic Features

As discussed herein, during operation, an operator grasps a handpiece with his/her hand and moves the handpiece such that the instrument mimics the movement of the handpiece. For example, the operator may push toward and pull the handpiece from input devices, move upward, downwards, leftwards, rightwards or diagonal wise, or rotate the handpiece about a longitudinal axis thereof. Furthermore, the operator opens and closes the paddle329to control an open and close movement of the instrument. Moreover, during operation, an operator generally spends a substantial amount of time (for example, half an hour to few hours) in operating the handpiece. Thus, it is desirable that the handpiece is designed or structured to be user friendly, safe, ergonomic, reduce user fatigue and/or improve operation efficiency. In some cases, the handpiece may have multiple ergonomic features. For example, several components of the handpiece (for example, palm grip, neck portion, paddle, slanted top, ridge, pivot joint, cutout, etc.) may be ergonomically shaped and/or sized.

1. Palm Grip

FIG. 27illustrates a perspective view of a right side handpiece122showing palm grip ergonomic features according to some embodiments.FIG. 28illustrates a perspective view of the right side handpiece122ofFIG. 27grasped by a user's right hand according to some embodiments. Referring toFIG. 27, the handpiece122includes a palm grip303. The palm grip (hereinafter to be interchangeably used with a “handle”)303is a region of the handpiece122that is grasped and/or supported by the operator's palm750(see, for example,FIG. 28). In some cases, the palm grip303may be sufficiently long to permit a substantial portion of an average operator's palm to be rested on. This design may be advantageous over a linear handle or a curved but relative shorter handle, in that an operator may be able to more securely and comfortably grasp the handpiece122using the longer and ergonomically shaped palm grip303. Furthermore, due to a longer/larger dimension and ergonomic design, the palm grip303may have a larger contact surface area where an operator's palm can rest.

The palm grip303may include an upper grip (or upper portion)303a, a middle grip (or middle portion)303band a lower grip (or lower portion)303c. The upper grip303amay extend from the neck portion317toward the proximal end. The middle grip303bmay downwardly extend at a first angle from the upper grip303a. The lower grip303cmay downwardly extend at a second angle from the middle grip303b. The first and second angles may be the same as or different from each other depending on the embodiment. The upper and lower grips303aand303cmay have a narrower diameter or width than that of the middle grip303bso that the palm grip303as a whole has a substantially ‘egg’ shape. The width or diameter of the upper grip303amay be larger than that of the neck portion317. The upper grip303amay be shaped and sized to permit at least a portion of an average operator's finger (for example, thumb or index finger) to be comfortably rested or supported. The middle grip303bmay have an external surface that is curved to correspond to a curvature of at least part of an average operator's palm.

In some cases, as shown inFIG. 28, the palm grip303may form an obtuse angle760with the neck portion317. The obtuse angle760may correspond to the anatomy of an average operator's hand. The obtuse angle760may be substantially similar to an angle of a natural curvature of an average operator's hand when gripping the handpiece122as shown inFIG. 28. In these cases, an operator's thumb730and index finger740may be positioned on a region of the handpiece122(for example, the index finger740on or near the paddle329and the thumb730on opposite side of the index finger740) substantially parallel to a longitudinal axis of the handpiece122. Furthermore, the palm750may be positioned on the palm grip303such that the angle between the thumb730/index finger740and the palm750may be substantially similar to the obtuse angle defined between the neck portion317and the palm grip303. The slanted angle of the palm grip303may provide a maximum contact with the palm750while providing comfort to the operator. The operator's middle finger736may be positioned on a downward extension764of the paddle329(see, for example,FIG. 29), and the other two fingers732and734may be rested on a portion of the palm grip303.

Thus, the ergonomically shaped palm grip design may provide comfort and convenience while reducing user fatigue and improving operation efficiency.

2. Neck Portion

In some cases, as shown inFIG. 27, the handpiece122may also include a neck portion317positioned between the upper grip303aand the pivot joint372(see alsoFIG. 11A). The neck portion317may have a reduced cross sectional extent with respect to the upper grip303a. The neck portion317may permit an operator's fingers (for example, thumb730or index finger740) to be comfortably rested thereon.

Since the neck portion317is positioned between the upper grip303aand the pivot joint372, the neck portion317may not horizontally overlap the paddle329. This may be advantageous, as it can permit an operator's finger to be rested thereon without the finger touching the paddle329. The palm grip303and the neck portion317together may allow an operator to comfortably grasp the handpiece122while resting one or more of his/her fingers without interfering with the paddle operation.

In some cases, as shown inFIG. 27, the neck portion317may include a protruding side surface317athat outwardly protrudes from a side thereof. AlthoughFIG. 27shows only one protruding side surface317a, the neck portion317may include another protruding surface on the opposite side. The protruding surface317aalone or in combination with a convexed tail end331(to be described with respect toFIG. 29below) of the paddle329may enable operators to more easily roll (rotate) the handpiece122about a longitudinal axis of the handpiece122, by turning the protruding side surface317aand/or the convexed tail end331with their fingertip(s), without the need of rotating their wrists. In another case, during this handgrip rotating procedure, the operators may merely loosely grasp the palm grip303.

In some cases, the protruding surface317aof the neck portion317may be adjacent to or contact the convexed tail end331. The protruding surface317amay have a curvature substantially the same as or similar to that of the curvature of the convexed tail end331. The combination of the protruding surface317aand the convexed tail end331having the same or similar curvature may allow operators to more easily roll (rotate) the handpiece122by turning the combined elements317aand331, as the operator would have a larger convexed area to turn.

Thus, the ergonomic features of the neck portion may provide comfort and convenience while reducing user fatigue and improving operation efficiency.

FIG. 29illustrates a perspective view of a right side handpiece122showing paddle ergonomic features according to some embodiments.FIG. 30illustrates a closed-up perspective view of a paddle329of the right side handpiece122ofFIG. 29according to some embodiments (with irrelevant elements removed).FIG. 31illustrates a close-up left side view of the paddle329ofFIG. 30according to some embodiments.

Referring toFIG. 29, the paddle329includes a tail end331and a paddle end333. The paddle329may also include an upper portion770and a downward extension764. The upper portion770includes a tail region762and a paddle region766. The tail region762may include the tail end331and a non-tail end region adjacent to the tail end331. The downward extension764downwardly extends from the paddle region766. In some cases, as shown inFIG. 29, left and right ends of the downward extension764may be sized such that the upper side of the downward extension764has a width slightly greater than that of the lower side thereof. The tail region762may be sized to receive distal phalanges of an average operator's finger (for example, index finger) when grasped by the hand of the operator. The downward extension764may have a height greater than that of the tail region762where the height is measured in a direction substantially perpendicular to a longitudinal axis of the handpiece body. The downward extension764may be sized to accommodate at least two fingers of the operator such as index and middle fingers.

In some cases, an outer surface of the tail region762may be at least partially outwardly curved. For example, the outer surface may be at least partially convexed, crowned, arced or semi-circular. For example, an outer surface of the tail end331may be at least partially convexed. The convexed tail region762alone or in combination with the protruding side surface317aof the neck portion317may enable operators to more easily roll (rotate) the handpiece122about a longitudinal axis of the handpiece122, by turning at least one of the two protruding elements762and317awith their fingertip(s), without the need of rotating their wrists, or by merely loosely grasping the palm grip303.

In some cases, as shown inFIG. 31, the tail end331may be fully convexed. For example, an outer surface of the tail end331may have a substantially convexed lens shape. In some cases, as shown inFIG. 31, the tail end331may be partially convexed. In these cases, the tail end331may include an upper convexed portion331aand a lower substantially flat portion331b. In some cases, the lower portion331bmay be convexed and the upper portion331amay be substantially flat. The remaining portion of the tail region762may be substantially flat, convexed or less convexed than the tail end331.

In some cases, instead of or in addition to the outwardly curved surface, the tail end331may include one or more individual protrusions spaced apart (not shown). In some cases, the entire tail region762may be convexed. The paddle region766may be substantially flat or less convexed (in terms of curvature) than the tail region762. In some cases, the tail region762may include other shape or structure as long as it can permit operators to more easily rotate the handpiece122with an operator's fingertip(s).

The downward extension764may be at least partially concaved or inwardly curved (opposite curve of the curvature described herein for the tail end331). The concaved portion764may allow an operator to grab the paddle329or rest his or her fingers thereon. In some cases, as shown inFIGS. 29 and 30, the entirety of the downward extension764may be concaved. In some cases, the downward extension764may be partially concaved.

Thus, the ergonomic features (convexed tail region and concaved downward extension) of the paddle329may provide comfort and convenience while reducing user fatigue and improving operation efficiency.

FIG. 32illustrates a rear view of a right side handpiece122showing additional handpiece ergonomic features according to some embodiments. In some cases, as shown inFIG. 32, the handpiece122may include a slanted top surface780that is slanted toward a side surface of the body where an operator's index finger is configured to be positioned when the handpiece is grasped by the hand of the operator. For example, for a right side handpiece having a paddle disposed on the right side of the body (see, for example,FIG. 32), the slanted top surface780may be slanted toward the paddle329or the cutout336. As another example, for a right side handpiece having a paddle disposed on the left side of the body (not shown), the slanted top surface may be slanted toward a side of the body on the opposite side of the paddle. As another example, for a left side handpiece having a paddle disposed on the left side of the body (see, for example,FIG. 3A), the slanted top surface may be slanted toward the paddle or the cutout. As another example, for a left side handpiece having a paddle disposed on the right side of the body (see, for example,FIG. 6A), the slanted top surface may be slanted toward a side of the body on the opposite side of the paddle. As another example, for a handpiece having paddles disposed on both the left and right sides of the body (see, for example,FIG. 9), the top surface may be relative flat or have side (or edge portions) that curve toward each of the left and right sides of the body. The curvature of the top surface may be a convex curvature.

The slanted top surface780may be advantageous in that an operator can easily move his or her index finger between the input control interface326aand the paddle329, as the input control interface326ais closer to the paddle329, compared to a non-slanted handpiece top. Thus, the slanted top780may provide convenience while improving operation efficiency.

5. Ridge Around Input Control Interface

In some cases, as shown inFIG. 27, the handpiece122may include a ridge326baround the input control interface326a. The ridge326bsurrounds the input control interface326aand is upwardly protruded or raised from an edge of the input control interface326a. The ridge326bmay help an operator recognize the location of the input touch interface326aduring operation without necessarily having to look at the handpiece122. AlthoughFIG. 27shows that the ridge326bfully surrounds the input control interface326a, the ridge326bmay be formed to only partially surround the input control interface326a. In some cases, the ridge326bmay include a plurality of individual protrusions spaced apart along the edge of the input control interface326a. In some cases, the ridge326bmay have other shapes that can provide a tactile feedback to an operator regarding the position of the input touch interface326a. Thus, the ridge326bmay also provide convenience while improving operation efficiency and accuracy.

In some cases, as shown inFIG. 27, the handpiece122may include a sloped region319between the neck portion317and the ridge326bof the input control interface326a. Since there is a height difference between the neck portion317and the ridge326b, the two elements317and326aare connected via the sloped region319. The sloped region319may be downwardly curved or linear. In some cases, the sloped region319alone may be used for an operator to rest his or her finger thereon. In some cases, the sloped portion319and the neck portion317together may be used to accommodate an operator's finger (for example, thumb or index finger) for resting. Thus, the sloped region319may provide more comfort, thereby reducing user fatigue.

7. Pivot Joint and Paddle Movement Mechanism

Referring toFIG. 11AandFIG. 27, the pivot joint327is disposed inside the handpiece body (see alsoFIG. 11A). Since there is no pivot joint disposed outside the handpiece body, an operator may be prevented from being finger-pinched by a pivot joint and/or a portion of the outside of the handpiece body. In addition to enhancing user safety, the handpiece122may appear aesthetically better and neater by not placing the pivot joint outside or near the side of the handpiece body. Furthermore, in combination with the wiper370(see, for example,FIG. 11A), the pivot joint372may more securely fix the paddle329to the handpiece body.

Referring back toFIG. 11A, the paddle329and the wiper370are connected to and arranged in a substantially spaced apart and parallel relationship with each other (see arrows371inFIG. 11A). Having the paddle329and the wiper370on opposite sides of the pivot joint372but spaced apart allows for compactness of the handpieces. Otherwise, if they were inline, the wiper370would need to extend farther towards the proximal end in order to have enough spacing to detect a change in angle (using the angular detection sensor or curved coil layout if using an inductive detector described herein). This may also allow the paddle329to extend out and away from the body to provide a comfortable grip for the user.

In some cases, as shown inFIG. 11A, the paddle329may have a central longitudinal axis371that does not intersect the pivot joint372. Furthermore, the pivot joint372may be disposed inside the body to be closer to a longitudinal axis373of the body than the longitudinal axis371of the paddle329. This structure allows substantially the entirety of the paddle329to be disposed outside the body. Furthermore, the longitudinal axis371of the paddle329can be substantially parallel to the longitudinal axis373of the body in its closed position. The full closure and parallel arrangement of the paddle329may be beneficial in that the instrument can be fully closed based on the movement of the paddle329. Moreover, the described structure also allows an inner surface of the paddle329to gently land on a side surface of the body that faces the paddle329. This can prevent the paddle from colliding or otherwise having an undesirable physical impact on the paddle329when it is closed.

In some cases, as shown inFIG. 11A, the tail end of the paddle329may include a region375that is angled, slanted or curved toward the pivot joint372. The angled region375may be used to conveniently open and close the paddle329. The angled region375may be convexed to conveniently roll the handpiece without using the palm grip303as described herein.

With the ergonomic structure of the pivot joint372and the paddle329along with the wiper370, no mechanical paddle movement detection mechanism, such as a rod that converts a rotational paddle movement into a linear movement, is required. Thus, the handpiece can be more efficiently manufactured and/or the pincer angle detection can be more accurately or efficiently made. Furthermore, the handpiece may be more safely operated by a user.

In some cases, as shown inFIG. 27, the handpiece122may also include a cutout336formed in the side surface of the body that faces the paddle329. The cutout336may be shaped to accommodate the paddle329. For example, as shown inFIG. 30, the inner surface329cof the paddle329may be inwardly curved, and the cutout336may be correspondingly shaped to accommodate the curved inner surface329cof the paddle329. As described herein, the longitudinal axis371of the paddle329can be substantially parallel to the longitudinal axis373of the body in its closed position. The cutout336may more easily enable the parallel arrangement between the axes371and373of the paddle329and the body by accommodating the paddle329therein.

Other Variations

Those skilled in the art will appreciate that, in some embodiments, additional components and/or steps can be utilized, and disclosed components and/or steps can be combined or omitted. For example, although some embodiments are described in connection with a robotic surgery system, the disclosure is not so limited. Systems, devices, and methods described herein can be applicable to medical procedures in general, among other uses. As another example, certain components can be illustrated and/or described as being circular or cylindrical. In some implementations, the components can be additionally or alternatively include non-circular portions, such as portions having straight lines. As yet another example, any of the actuators described herein can include one or more motors, such as electrical motors. As yet another example, in addition to or instead of controlling tilt and/or pan of a camera, roll (or spin) can be controlled. For example, one or more actuators can be provided for controlling the spin.

It will be appreciated by those skilled in the art that various modifications and changes can be made without departing from the scope of the described technology. Such modifications and changes are intended to fall within the scope of the embodiments. It will also be appreciated by those of skill in the art that parts included in one embodiment are interchangeable with other embodiments; one or more parts from a depicted embodiment can be included with other depicted embodiments in any combination. For example, any of the various components described herein and/or depicted in the figures can be combined, interchanged, or excluded from other embodiments.

Directional terms used herein (for example, top, bottom, side, up, down, inward, outward, etc.) are generally used with reference to the orientation or perspective shown in the figures and are not intended to be limiting. For example, positioning “above” described herein can refer to positioning below or on one of sides. Thus, features described as being “above” may be included below, on one of sides, or the like.

It will be further understood by those within the art that any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, can be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.” Further, the term “each,” as used herein, in addition to having its ordinary meaning, can mean any subset of a set of elements to which the term “each” is applied.

The steps of a method or algorithm and functions described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a tangible, non-transitory computer-readable medium. A software module may reside in Random Access Memory (RAM), flash memory, Read Only Memory (ROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), registers, hard disk, a removable disk, a CD ROM, or any other form of storage medium known in the art. A storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and blu ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer readable media. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.

The above description discloses embodiments of systems, apparatuses, devices, methods, and materials of the present disclosure. This disclosure is susceptible to modifications in the components, parts, elements, steps, and materials, as well as alterations in the fabrication methods and equipment. Such modifications will become apparent to those skilled in the art from a consideration of this disclosure or practice of the disclosure. Consequently, it is not intended that the disclosure be limited to the specific embodiments disclosed herein, but that it cover all modifications and alternatives coming within the scope and spirit of the subject matter embodied in the following claims.