Patent Description:
Endoscopic surgery involves looking into a patient's body and performing surgery inside the body using endoscopes and other surgical tools. For example, laparoscopic surgery can use a laparoscope to access and view an abdominal cavity. Endoscopic surgery can be performed using manual tools and/or a surgical robotic system having robotically-assisted tools.

A surgical robotic system may be remotely operated by a surgeon to command a robotically-assisted tool located at an operating table. The surgeon may use a computer console located in the operating room, or it may be located in a different city, to command a robot to manipulate the surgical tool mounted on the operating table. The robotically-controlled surgical tool can be an endoscope mounted on a robotic arm. Accordingly, the surgical robotic system may be used by the remote surgeon to perform an endoscopic surgery.

The surgeon may provide input commands to the surgical robotic system, and one or more processors of the surgical robotic system can control system components in response to the input commands. For example, the surgeon may hold in her hand a user input device such as a joystick or a computer mouse that she manipulates to generate control signals to cause motion of the surgical robotic system components, e.g., an actuator, a robotic arm, and/or a surgical tool of the robotic system. <CIT> discloses a robotic surgical system that includes a robotic surgical assembly and a control assembly. The robotic surgical assembly includes a robotic actuation assembly, a processing device, and a first communication device. The robotic actuation assembly includes a robotic arm. The processing device is configured to instruct the robotic actuation assembly to perform a task based on a set of instructions. The first communication device is operable to transfer the set of instructions to the processing device. The control assembly includes a second communication device and a user input device. The second communication device is operable to communicate the set of instructions to the first communication device. The user input device assembly comprises a device housing, a tracking sensor and a finger clutch including a capacitive sensor, switch or button, and is configured to generate the set of instructions and send the set of instruction to the second communication device. At least a portion of the instructions are based on positioning of the user input device within three-dimensional space. <CIT> Al discloses a patient-side surgeon interface that provides enhanced capabilities in using a minimally invasive, teleoperated surgical system The patient-side surgeon interface has components within the sterile surgical field of the surgery. The components allow a surgeon to control teleoperated slave surgical instruments from within the sterile surgical field. The patient-side surgeon interface permits a surgeon to be in the sterile surgical field adjacent a patient undergoing surgery. Controlling minimally invasive slave surgical instruments from within the sterile surgical field permits minimally invasive surgery combined with direct visualization by the surgeon. The proximity to the patient allows the surgeon to control a teleoperated slave surgical instrument in tandem with controlling manually controlled instruments such as a laparoscopic instrument. Also, the surgeon, from within the sterile surgical field, can use the patient-side surgeon interface to control at least one proxy visual in proctoring another surgeon. <CIT> Al discloses a method for a minimally invasive surgical system including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.

A conventional user interface device for a surgical robotic system includes a grip that a surgeon manipulates using her hand, to generate an input command to move an actuator, to which a robotic surgical tool and/or end effector is coupled in the surgical robotic system The surgeon can move the grip within a workspace, such as a range of motion of a linkage system connected to the grip, to remotely cause a corresponding movement of the actuator. When a limit of the workspace is reached, e.g., when the linkage system is fully extended, the surgeon can press a clutch button to disconnect the input from the surgical robotic system That is, when the clutch button is pressed, the grip can be repositioned within the workspace without causing movement of the actuator. In order to actuate the clutch button, however, the surgeon must apply a force large enough to counter a return spring force of the clutch button. For example, the surgeon must press downward on the clutch button. The downward pressure may cause unintentional movement of an end effector because the grip might also be simultaneously pushed downward. Unintentional movement of the grip can produce imprecise surgical maneuvers at the end effector. Thus, a user interface device for use in robotic surgery is needed that reduces a likelihood of unintentional movements of the corresponding, remote actuator.

Accordingly, the present invention provides a user interface device as defined in appended claim <NUM>.

The user interface device for controlling a surgical robotic system does not require an actuation force and reduces a likelihood of unintentional movement of the corresponding actuator. In an embodiment, the user interface device includes a device housing having a radially-symmetric gripping surface to allow a user to comfortably hold the device housing in her hand in any orientation. For example, the gripping surface may include a surface of revolution having a surface contour revolved about a central axis. In one instance, the surface of the housing defines an ellipsoid, in which case the central axis may be the longitudinal or major axis of the ellipsoid. A tracking sensor and/or a gripping sensor may be mounted within the device housing. The tracking sensor may generate spatial state signals in response to movement of the device housing, and the gripping sensor may generate a grip signal in response to being squeezed. The spatial state signals can track movement of the device housing in six degrees of freedom. The spatial state signals and the grip signal may then be used by the system to control movement of a remote robotic arm (and a surgical tool mounted on the arm). For example, the spatial state signal can be input to the surgical robotic system for controlling motion of the robotic surgical tool. The user interface device includes a finger clutch having a capacitive sensor therein, which is used to generate a clutch signal. The clutch signal can be generated in response to detection, using the capacitive sensor, of a user touch of the finger clutch. The clutch signal is then used by the system to pause all movement of the surgical tool regardless of a change in the spatial state signals or the grip signal. The finger clutch can be configured to, when pressed, generate the clutch signal to pause motion regardless of the spatial state signals.

The finger clutch is mounted on an end of the device housing to be easily reached by an extended finger of the user. The capacitive sensor includes a conductive pad extending over at least <NUM> degrees around the central axis. The conductive pad is part of an electrode structure mounted at the end of the housing whose capacitance changes in response to the user touch. This change in capacitance can be detected using an electronic sensor circuit (e.g., contained within the housing), that generates the clutch signal based on having detected the capacitance change, e.g., a bi-stable signal having two states, namely "clutch activation" when a capacitance change has been detected, or "clutch deactivation" when the capacitance change has not been detected.

In an embodiment, the finger clutch is also radially-symmetric about the central axis. The finger clutch can be shaped to allow the user to easily touch a capacitive sensing region (having the conductive pad that is formed on the finger clutch). For example, the finger clutch may have a frustoconical shape. The capacitive sensor of the finger clutch can include one or more conductive pads covered by an electrically insulating clutch cover around the frustoconical shape. Accordingly, when the user's finger touches the clutch cover over the conductive pad, the capacitance of the conductive pad changes.

In an embodiment, the user interface device includes an electronic processor to generate the clutch signal. The user interface device processor can be configured to detect the change of capacitance, for example, through processing of a digitized version of a capacitive sensor signal that may be produced by a capacitive sensing amplifier circuit (which may be deemed to be part of the UID processor). When a capacitance change is above a predetermined threshold capacitance, or when a capacitance change lasts a predetermined period of time, the user interface device processor may determine that the user has touched the clutch cover and so asserts the clutch signal. This is also referred to as determining whether or not a predetermined touch gesture has occurred. The clutch signal is then used by the system to pause all motion of the remote robotic arm (and the surgical tool mounted on the arm).

The above summary does not include an exhaustive list of all aspects of the present invention. It is contemplated that the invention includes all systems and methods that can be practiced from all suitable combinations of the various aspects summarized above, as well as those disclosed in the Detailed Description below and particularly pointed out in the claims filed with the application. Such combinations have particular advantages not specifically recited in the above summary.

The embodiments of the invention are illustrated by way of example and not by way of limitation in the figures of the accompanying drawings in which like references indicate similar elements. It should be noted that references to "an" or "one" embodiment of the invention in this disclosure are not necessarily to the same embodiment, and they mean at least one. Also, in the interest of conciseness and reducing the total number of figures, a given figure may be used to illustrate the features of more than one embodiment of the invention, and not all elements in the figure may be required for a given embodiment.

Embodiments describe a user interface device (UID) usable by a robotic system to control actuators that move a robotic arm or a tool. The robotic system can be a surgical robotic system, the robotic arm can be a surgical robotic arm, and the tool can be a surgical tool. The UID may, however, be used by other systems, such as interventional cardiology systems, vision systems, or aircraft systems, to control other output components. These other systems name only a few possible applications.

In various embodiments, description is made with reference to the figures. However, certain embodiments may be practiced without one or more of these specific details, or in combination with other known methods and configurations. In the following description, numerous specific details are set forth, such as specific configurations, dimensions, and processes, in order to provide a thorough understanding of the embodiments. In other instances, well-known processes and manufacturing techniques have not been described in particular detail in order to not unnecessarily obscure the description. Reference throughout this specification to "one embodiment," "an embodiment," or the like, means that a particular feature, structure, configuration, or characteristic described is included in at least one embodiment. Thus, the appearance of the phrase "one embodiment," "an embodiment," or the like, in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, configurations, or characteristics may be combined in any suitable manner in one or more embodiments.

The use of relative terms throughout the description may denote a relative position or direction. For example, "distal" may indicate a first direction away from a reference point, e.g., away from a user. Similarly, "proximal" may indicate a location in a second direction opposite to the first direction, e.g., toward the user. Such terms are provided to establish relative frames of reference, however, and are not intended to limit the use or orientation of a UID to a specific configuration described in the various embodiments below.

In an aspect, a UID usable by a surgical robotic system to control actuators includes a finger clutch that is easy to reach and actuate by a user. The finger clutch can be mounted at an end of a device housing to be within reach of a finger of the user when the user is holding the UID. The finger clutch may include a conductive pad forming a portion of a capacitive sensor. The capacitive sensor can sense a change in capacitance when the user touches the finger clutch over the conductive pad. A touch is contrasted here with a press because a touch may include substantially zero force application. That is, touching the finger clutch requires less pressure than actuating a button. Thus, the finger clutch can be actuated with zero force to avoid an unintentional movement of a robotic end effector.

Referring to <FIG>, this is a pictorial view of an example surgical robotic system <NUM> in an operating arena. The surgical robotic system <NUM> includes a user console <NUM>, a control tower <NUM>, and one or more surgical robotic arms <NUM> at a surgical robotic platform <NUM>, e.g., a table, a bed, etc. The system <NUM> can incorporate any number of devices, tools, or accessories used to perform surgery on a patient <NUM>. For example, the system <NUM> may include one or more surgical tools <NUM> used to perform surgery. A surgical tool <NUM> may be attached to a distal end of a surgical robotic arm <NUM>, for executing a surgical procedure.

Each surgical tool <NUM> may be manipulated manually, robotically, or both, during the surgery. For example, surgical tool <NUM> may be a tool used to enter, view, or manipulate an internal anatomy of patient <NUM>. In an embodiment, surgical tool <NUM> includes an end effector, e.g., a grasper that can grasp tissue of patient <NUM>. Surgical tool <NUM> may be handled manually, by a bedside operator <NUM>; or it may be moved robotically, via actuated movement of the surgical robotic arm <NUM> to which it is attached. Surgical robotic arms <NUM> are shown as a table-mounted system, but in other configurations the surgical robotic arms <NUM> may be mounted in a cart, ceiling or sidewall, or in another suitable structural support.

Generally, a remote operator <NUM>, such as a surgeon or other operator, may use the user console <NUM> to remotely manipulate the surgical robotic arms <NUM> and/or surgical tools <NUM>, e.g., by teleoperation. The user console <NUM> may be located in the same operating room as the rest of the system <NUM>, as shown in <FIG>. In other environments however, the user console <NUM> may be located in an adjacent or nearby room, or it may be at a remote location, e.g., in a different building, city, or country. The user console <NUM> may comprise a seat <NUM>, foot-operated controls <NUM>, one or more handheld user interface devices, UIDS <NUM>, and at least one user display <NUM> that is configured to display, for example, a view of the surgical site inside patient <NUM>. In the example user console <NUM>, remote operator <NUM> is sitting in seat <NUM> and viewing the user display <NUM> while manipulating a foot-operated control <NUM> and a handheld UID <NUM> in order to remotely command movement of the surgical robotic arms <NUM> and surgical tools <NUM> (that are mounted on the distal ends of the surgical robotic arms <NUM>). Foot-operated control(s) <NUM> can be foot pedals, such as seven pedals, that generate motion command signals when actuated. User console <NUM> may include one or more additional input devices (<FIG>), such as a keyboard or a joystick, to receive manual inputs to command operations of user console <NUM>, or other components of surgical robotic system <NUM>.

In some variations, bedside operator <NUM> may also operate system <NUM> in an "over the bed" mode, in which bedside operator <NUM> (user) is now at a side of patient <NUM> and is simultaneously manipulating a robotically-driven tool <NUM> (attached to surgical robotic arm <NUM>), e.g., with a handheld UID <NUM> held in one hand, and a manual laparoscopic tool. For example, the bedside operator's left hand may be manipulating the handheld UID <NUM> to command a robotic component, while the bedside operator's right hand may be manipulating a manual laparoscopic tool. Thus, in these variations, bedside operator <NUM> may perform both robotic-assisted minimally invasive surgery and manual laparoscopic surgery on patient <NUM>.

During an example procedure (surgery), patient <NUM> is prepped and draped in a sterile fashion to achieve anesthesia. Initial access to the surgical site may be performed manually while the surgical robotic arms <NUM> of surgical robotic system <NUM> are in a stowed configuration or withdrawn configuration (to facilitate access to the surgical site). Once access is completed, initial positioning or preparation of the robotic system including its surgical robotic arms <NUM> may be performed. Next, the surgery proceeds with the remote operator <NUM> at the user console <NUM> utilizing the foot-operated controls <NUM> and the UIDs <NUM> to manipulate the various surgical tools, and perhaps an imaging system, to perform the surgery. Manual assistance may also be provided at the procedure bed or table, by sterile-gowned bedside personnel, e.g., bedside operator <NUM> who may perform tasks such as retracting tissues, performing manual repositioning, and tool exchange upon one or more of the surgical robotic arms <NUM>. Non-sterile personnel may also be present to assist remote operator <NUM> at the user console <NUM>. When the procedure or surgery is completed, the system <NUM> and/or user console <NUM> may be configured or set in a state to facilitate post-operative procedures such as cleaning or sterilization and healthcare record entry or printout via user console <NUM>.

In one embodiment, remote operator <NUM> holds and moves UID <NUM> to provide an input command to move one or more actuators <NUM> in surgical robotic system <NUM>. There may be several sets of actuators corresponding to different robotically-driven portions of the system. For example, a first set of one or more actuators <NUM> can move joints of surgical robotic arm <NUM>, and a second set of one or more actuators <NUM> can move components of surgical tool <NUM>, such as an end effector of surgical tool <NUM>. UID <NUM> may be communicatively coupled to the rest of surgical robotic system <NUM>, e.g., via a computer system <NUM>. UID <NUM> can generate spatial state signals corresponding to movement of UID <NUM>, e.g., position and orientation of the handheld housing of the UID. The spatial state signals can include at least one pose signal and at least one position signal, and can define a pose and a position of the UID <NUM> in six degrees of freedom. The spatial state signals may be input signals used by one or more processors of surgical robotic system <NUM> to control movement of actuators <NUM>. The one or more processors of surgical robotic system <NUM> may use the spatial state signals, or control signals derived from the spatial state signals, to control proportional motion of actuators <NUM>. In one embodiment, a console processor of computer system <NUM> receives the spatial state signals and generates the corresponding control signals. The control signals can be further processed by a surgical system processor coupled to the actuators <NUM> of surgical robotic arm <NUM> and/or surgical tool <NUM>. Based on these control signals, which control how the actuator <NUM> is energized to move a segment or link of surgical robotic arm <NUM>, the movement of a corresponding surgical tool <NUM> that is attached to the surgical robotic arm <NUM> may mimic the movement of UID <NUM>. Similarly, interaction between remote operator <NUM> and UID <NUM> can generate, for example, a grip control signal that causes a grip motion or a grasp motion of an end effector, e.g., a gripping movement by a jaw of a grasping movement by a grasper, of surgical tool <NUM> to close and grip the tissue of patient <NUM>.

The motion of UID <NUM> may alternatively be provided to command other operations by surgical robotic system <NUM>. For example, gestures detected by a finger clutch, as described below, may generate a clutch signal to pause the motion of actuators <NUM> corresponding to the surgical robotic arm <NUM> and surgical tool <NUM>. For example, when a user touches the finger clutch of UID <NUM> with a finger, the finger clutch may generate a clutch signal, and the clutch signal may be an input signal to pause all motion of actuators <NUM>, and correspondingly, all motion of surgical robotic arm <NUM> and surgical tool <NUM>. When all motion of surgical robotic arm <NUM> and surgical tool <NUM> are paused, there is no movement in any direction and no change in orientation of surgical robotic arm <NUM> and surgical tool <NUM>. The clutch signal may be termed a "clutch activation signal" when the assertion of the signal pauses motion of actuators <NUM>. Similarly, the input signal may be a "clutch deactivated signal" when no touch by user <NUM> is detected, and motion of actuators <NUM> is not paused. The clutch signal, e.g., the clutch activation signal, when asserted, can pause motion of the robotic arm and surgical tool regardless of the spatial state signals. Accordingly, the clutch signal effectively overrides the actuation command that is derived from the spatial state signals. In an embodiment, one or more capacitive sensing pads may be located on UID <NUM>, and the user may touch the capacitive sensing pads to command a camera view of an endoscope, a cursor on a display of user console <NUM>, etc., while performing a diagnostic, surgical, laparoscopic, or minimally invasive surgical procedure, or another robotic procedure.

Surgical robotic system <NUM> may include several UIDs <NUM>, where respective control signals are generated for each UID that are used by one or more processors of the surgical robotic system <NUM> to control actuators <NUM> of a respective surgical robotic arm <NUM> and/or surgical tool <NUM>. For example, remote operator <NUM> may move a first UID <NUM> to command motion of actuators <NUM> that are in a left surgical robotic arm, where the actuator responds by moving linkages, gears, etc., in that surgical robotic arm <NUM>. Similarly, movement of a second UID <NUM> by remote operator <NUM> commands motion of other actuators <NUM>, which in turn move other linkages, gears, etc., of the surgical robotic system <NUM>. Surgical robotic system <NUM> may include a right surgical robotic arm <NUM> that is secured to the bed or table to the right side of the patient, and a left surgical robotic arm <NUM> that is at the left side of the patient. Each surgical robotic arm <NUM> can have several joints, and movement of the joints can be actuated by one or more corresponding actuators <NUM>. For example, each actuator <NUM> may include one or more motors that are controlled by the one or more processors of surgical robotic system <NUM> so that they drive the rotation of a joint of surgical robotic arm <NUM> or surgical tool <NUM>. Movement of the joints causes movement of the links or segments of the arm or tool, which can change, for example, relative to the patient, an orientation of an endoscope or a grasper of surgical tool <NUM> that is attached to that surgical robotic arm <NUM>. The spatial state signals generated from a particular UID <NUM> can be used by the one or more processors of surgical robotic system <NUM> to control motion of several actuators <NUM> in the same surgical robotic arm <NUM>. Input signals generated by UIDs <NUM> can also be used to control motion of respective surgical tool graspers. For example, each UID <NUM> can generate a respective grip signal that the one or more processors can use to control motion of an actuator, e.g., a linear actuator, that opens or closes jaws of the grasper at a distal end of the surgical tool to grip tissue within patient <NUM>.

In some aspects, the communication between platform <NUM> and user console <NUM> may be through a control tower <NUM>, which may translate input signals that are received from user console <NUM> (and more particularly from computer system <NUM>) into output signals that are transmitted to surgical robotic arms <NUM> and surgical tools <NUM> on robotic platform <NUM>. The control tower <NUM> may also transmit status and feedback from platform <NUM> back to user console <NUM>. The communication connections between the robotic platform <NUM>, user console <NUM>, and control tower <NUM> may be via wired and/or wireless links, using any suitable ones of a variety of data communication protocols. Any wired connections may be optionally built into the floor and/or walls or ceiling of the operating room. Surgical robotic system <NUM> may provide video output to one or more displays, including displays within the operating room as well as remote displays that are accessible via the Internet or other networks. The video output or feed may also be encrypted to ensure privacy and all or portions of the video output may be saved to a server or electronic healthcare record system.

It will be appreciated that the operating room scene in <FIG> is illustrative and may not accurately represent certain medical practices.

Referring to <FIG>, a pictorial view of a UID having a finger clutch is shown in accordance with an embodiment. A UID <NUM> can include a device housing <NUM> to be held by a user <NUM>. For example, user <NUM> may hold device housing <NUM> between several fingers and move UID <NUM> within a workspace. The workspace may be a range of reach of user <NUM>. As described below, UID <NUM> may include a tracking sensor to detect a position and/or orientation of device housing <NUM> when user <NUM> moves the UID <NUM>, and the detected position and/or orientation may be correlated to another component of a surgical robotic system. For example, the tracking sensor may detect translation, rotation, or tilting of device housing <NUM> within the workspace. The tracking sensor may include an accelerometer and/or a gyroscope or other inertial sensors. The movement of UID <NUM> within the workspace can cause a corresponding movement of a surgical robotic arm, a surgical tool, or an end effector of the surgical tool, e.g., a grasper or a jaw, of the surgical robotic system.

UID <NUM> may include a clutch mechanism to decouple movement of UID <NUM> from movement of the surgical robotic arm <NUM> and/or surgical tool <NUM>. For example, UID <NUM> can include a finger clutch <NUM> mounted on device housing <NUM> to clutch the surgical robotic system. Finger clutch <NUM> may be so-termed because it may be actuated by a touch from a finger of user <NUM>. That is, when user <NUM> touches finger clutch <NUM> with the finger, the touch may be detected as a clutch input. In response to the clutch input, movement of UID <NUM> detected by the tracking sensor may not be used by the one or more processors to control movement of the surgical robotic system. When the clutch input is removed (when the touch is ended) the movement of UID <NUM> may again cause a corresponding movement of the surgical robotic system. That is, when finger clutch <NUM> is unclutched, e.g., by removing the finger from finger clutch <NUM>, UID <NUM> movement may again be detected and used by surgical robotic system <NUM> as a motion control input.

The clutching mechanism of UID <NUM> can allow user <NUM> to reposition UID <NUM> within the workspace when a limit of the workspace has been reached. For example, by extending an arm fully from a start position in a direction while holding UID <NUM>, user <NUM> may reach the limit of the workspace, e.g., an edge of the workspace. To reposition UID <NUM> within the workspace and allow for additional movement in the direction of the workspace edge, user <NUM> can touch finger clutch <NUM> with an index finger to disconnect the robotic system from the movement of UID <NUM>. User <NUM> may then move UID <NUM> back to the start position within the workspace and unclutch the surgical robotic system <NUM> by lifting the index finger from finger clutch <NUM>. Additional movement in the first direction may then be performed by moving UID <NUM> to command movement of surgical robotic arm <NUM>.

Referring to <FIG>, a perspective view of a UID is shown in accordance with an embodiment. UID <NUM>, which is handled by remote operator <NUM> to command movement of surgical tool <NUM> and/or surgical robotic arm <NUM>, can be a radially-symmetric device to enable or pause teleoperation of the commanded portion of surgical robotic system <NUM>. More particularly, device housing <NUM> of UID <NUM> can include a gripping surface <NUM> to be held between several fingers of user <NUM>. Device housing <NUM> can have one or more rounded or bulbous surface contours. For example, device housing <NUM> may be generally ovoid or egg-shaped, or it may be a ellipsoid. In an embodiment, a portion of device housing <NUM> in front of a circumferential ridge <NUM> of device housing <NUM> may be shorter and have a less gradual contour or taper than a portion of device housing <NUM> in back of ridge <NUM>. Thus, the distal portion and the proximal portion of device housing <NUM> may have different radii of curvatures measured from a point where a longitudinal axis of UID <NUM> intersects a transverse plane on which ridge <NUM> is located.

In an embodiment, finger clutch <NUM> is mounted on a housing end <NUM>. For example, housing end <NUM> may be a distal end of the device housing <NUM>. Housing end <NUM> can be a location or surface that is at an extremity of housing <NUM> in a first longitudinal direction. For example, the location can be an edge of housing <NUM> that is farthest from an opposite end of housing, e.g., a proximal end <NUM>.

Finger clutch <NUM> may extend distally from housing end <NUM>. Locating finger clutch <NUM> at a front part of UID <NUM> may allow user <NUM> to easily reach forward and touch finger clutch <NUM> with an index finger while holding gripping surface <NUM> between a thumb and another finger. Accordingly, UID <NUM> may be sized and shaped to be comfortably held within a hand of user <NUM>. In an embodiment, a longitudinal distance between proximal end <NUM> of device housing <NUM> and a distal tip <NUM> of UID <NUM> may be less than <NUM> inches, e.g., in a range of <NUM>-<NUM> inches. Similarly, a maximum diameter, e.g., a diameter of ridge <NUM>, of device housing <NUM> in a direction transverse to the longitudinal distance between proximal end <NUM> and distal tip <NUM> may be less than <NUM> inches, e.g., in a range of <NUM>-<NUM> inches. In an embodiment, the longitudinal distance of UID <NUM> may be greater than the maximum diameter of device housing <NUM>.

Command signals input through UID <NUM> may be communicated to computer system <NUM> through a wired or wireless connection. In an embodiment, an electrical wire <NUM> extends from distal tip <NUM> of UID <NUM> to connect UID <NUM> to computer system <NUM>. Electrical wire <NUM> may provide power to UID <NUM> and may carry sensor signals, e.g., tracking sensor signals or clutch signals, to computer system <NUM>. Accordingly, UID <NUM> may be a peripheral device used to input commands to computer system <NUM>. UIDs <NUM> can be used in combination with other peripheral input devices. For example, a foot pedal switch may be connected to computer system <NUM> to provide a clutch input to surgical robotic system <NUM>. Whereas each UID <NUM> may be individually clutched to pause teleoperation of respective surgical robotic arms or surgical tools, the respective surgical robotic arms or tools may be clutched at a same time by pressing the foot pedal switch. Thus, movement of actuators <NUM> may be commanded by UIDs <NUM> and other peripheral input devices of computer system <NUM>.

Referring to <FIG>, a side view of a UID is shown in accordance with an embodiment. Gripping surface <NUM> of UID <NUM> can include a surface of revolution <NUM> about a central axis <NUM>. Central axis <NUM> can extend longitudinally through UID <NUM> from proximal end <NUM> to distal tip <NUM>. Accordingly, gripping surface <NUM> may be an outer surface of UID <NUM> between housing end <NUM> and proximal end <NUM>.

Central axis <NUM> may be an axis of symmetry. That is, surface of revolution <NUM> may include a gripping surface contour <NUM> revolved about central axis <NUM> such that the revolved surface is radially-symmetric about central axis <NUM>. Gripping surface <NUM> is shown as a dashed region proximal to ridge <NUM>, however, gripping surface <NUM> may extend an entire distance between housing end <NUM> and proximal end <NUM>. That is, gripping surface contour <NUM> is shown as a curvilinear line segment extending over a portion of device housing <NUM>, however, gripping surface contour <NUM> may extend over gripping surface <NUM> from proximal end <NUM> to housing end <NUM>. When gripping surface contour <NUM> is revolved about central axis <NUM>, surface of revolution <NUM> is formed having radially symmetric features. For example, ridge <NUM> may be a raised ring extending circumferentially around device housing <NUM> at a longitudinal location between housing end <NUM> and proximal end <NUM>.

The radial symmetry of device housing <NUM> can allow user <NUM> to comfortably rotate UID <NUM> about central axis <NUM>. For example, user <NUM> may roll device housing <NUM> between fingers to generate input command signals that are processed to control a twisting motion of a surgical tool mounted on a surgical robotic arm. Furthermore, the radial symmetry of UID <NUM> enables user <NUM> to grasp device housing <NUM> at any position about central axis <NUM>. Accordingly, user <NUM> may access and manipulate UID <NUM> comfortably.

Finger clutch <NUM> may also be radially symmetric about central axis <NUM>. In an embodiment, finger clutch <NUM> includes a clutch cover <NUM> having a second surface of revolution <NUM> about central axis <NUM>. For example, second surface of revolution <NUM> may be a frustoconical surface tapering from a larger diameter at housing end <NUM> to a smaller diameter nearer to distal tip <NUM>. The frustoconical surface can have a cone shape with a tip of the cone shape removed. The diameter may change continuously over a length of clutch cover <NUM>. The tapering surface can be accessible to a user <NUM> regardless of how device housing <NUM> is gripped. That is, a contour of second surface of revolution <NUM> may be identical at all radial positions about central axis <NUM> such that clutch cover <NUM> has a consistent feel to user <NUM> regardless of where user <NUM> touches clutch cover <NUM>.

The frustoconical surface of clutch cover <NUM> is provided by way of example, and not limitation. Clutch cover <NUM> may incorporate a different shape. For example, clutch cover <NUM> may be formed as shown in any of the embodiments of <FIG>.

Finger clutch <NUM> may include a strain relief <NUM> extending from clutch cover <NUM> to distal tip <NUM>. Strain relief <NUM> can be an elastomeric component having a conical shape and a central bore through which electrical wire <NUM> may enter UID <NUM>. More particularly, strain relief <NUM> may support electrical wire <NUM> extending distally from distal tip <NUM> of UID <NUM>. Accordingly, strain relief <NUM> may relieve lateral loads placed on electrical wire <NUM>. Strain relief <NUM> may not be needed in an embodiment. For example, when UID <NUM> does not include electrical wire <NUM>, e.g., when UID <NUM> communicates wirelessly with computer system <NUM>, strain relief <NUM> may be omitted. In such case, finger clutch <NUM> may have a conical outer shape, rather than a frustoconical outer shape.

Referring to <FIG>, a sectional view, taken about line <NUM>-<NUM> of <FIG>, of a UID is shown in accordance with an embodiment. Clutch cover <NUM> of finger clutch <NUM> may be mounted over a conductive pad <NUM>. Conductive pad <NUM> may extend around central axis <NUM>. For example, whereas central axis <NUM> may extend longitudinally, an outer surface of conductive pad <NUM> may follow a path along a transverse plane orthogonal to longitudinal axis <NUM>. The path may extend fully around central axis <NUM>, e.g., the profile on the transverse plane may be circular. Alternatively, the path may extend partially around central axis <NUM>, e.g., the profile may be c-shaped. According to the present invention, the profile sweeps over an angle of at least <NUM> degrees, where the angle is measured about central axis <NUM>. The profile described above may be a singular transverse slice of conductive pad <NUM>, and in an embodiment, a shape of the profile may be the same over a length of conductive pad <NUM>. That is, each transverse slice of conductive pad <NUM> taken along the length of conductive pad <NUM> may be a same shape, e.g., circular.

Conductive pad <NUM> may be a band of conductive material conforming to an interior surface of clutch cover <NUM>. Conductive pad <NUM> may include a ring of conductive film having a frustoconical shape. Conductive pad <NUM> may be continuous or discontinuous around central axis <NUM>. For example, a longitudinal slit may be formed through conductive pad <NUM> such that conductive pad <NUM> extends only partially around central axis <NUM>. Accordingly, conductive pad <NUM> may have a c-shaped transverse cross-section. Alternatively, conductive pad <NUM> may extend fully around central axis <NUM>. Accordingly, conductive pad <NUM> may have an annular transverse cross-section. Although not shown, in one embodiment, a wire may join conductive pad <NUM> at one end to an input of a sensing amplifier circuit (viewed as part of a UID processor within the device housing <NUM>) at another end, wherein the sensing amplifier circuit may produce a sensed signal that changes in accordance with the signal on the wire, which changes as a result of the capacitance of the conductive pad <NUM> changing, based on proximity of the user's finger to the conductive pad <NUM> or based on the touch of the user's finger on the conductive pad <NUM>. A device processor in the housing <NUM> (UID processor <NUM> - see <FIG>) may process a digitized version of a sensed signal to determine whether or not a capacitance change has occurred at the conductive pad <NUM>.

Finger clutch <NUM> may include a pad mount <NUM> fixed to housing end <NUM>. For example, device housing <NUM> may be mounted on a UID body <NUM> extending longitudinally along central axis <NUM>. UID body <NUM> may have a distal end extending distal to housing end <NUM>. In an embodiment, pad mount <NUM> is attached to the distal end of UID body <NUM>, and thus, pad mount <NUM> is fixed relative to housing end <NUM>.

In an embodiment, pad mount <NUM> is radially symmetric about central axis <NUM>. For example, pad mount <NUM> may include an outer surface, e.g., a pad surface (<FIG>), that extends around central axis <NUM>. The pad surface can be a surface of revolution having a conical or frustoconical shape. The shape of the pad surface may be the same as an outer touch surface <NUM> of clutch cover <NUM>. Accordingly, a radial distance between outer touch surface <NUM> and the pad surface may be the same over a length of pad mount <NUM>. Alternatively, the radial distance may vary over the length. For example, outer touch surface <NUM> can be frustoconical and the pad surface can be cylindrical, and thus, a distance between the surfaces may be less at a distal end of pad mount <NUM> than at a proximal end of pad mount <NUM>.

Conductive pad <NUM> can be mounted on pad mount <NUM>. For example, conductive pad <NUM> may be joined to pad mount <NUM>. More particularly, conductive pad <NUM> may be located between an outer surface of pad mount <NUM> and an interior surface of clutch cover <NUM>. By contrast, clutch cover <NUM> may include outer touch surface <NUM> facing outward toward a surrounding environment. When a finger of user <NUM> touches outer touch surface <NUM> of clutch cover <NUM>, the finger is separated from conductive pad <NUM> by a wall thickness of clutch cover <NUM>. Clutch cover <NUM> can be formed from a dielectric material, e.g., a plastic, and thus, a capacitance across the wall of clutch cover <NUM> will change when the conductive finger of user <NUM> touches outer touch surface <NUM>. A thickness of the wall may be limited to ensure that the change in capacitance is detectable. For example, the wall thickness of clutch cover <NUM> between the interior surface and outer touch surface <NUM> may be less than <NUM>. Accordingly, clutch cover <NUM> and conductive pad <NUM> provide a capacitive sensor on central axis <NUM> at housing end <NUM>. The capacitive sensor extends around central axis <NUM>.

UID <NUM> may include other sensors. For example, UID <NUM> may include a tracking sensor <NUM> mounted within device housing <NUM>. More particularly, tracking sensor <NUM> may be mounted within UID body <NUM>. UID body <NUM> can include a cylindrical bore within which tracking sensor <NUM> is sized to fit in a sliding or press fit.

Tracking sensor <NUM> can be configured to generate one or more spatial state signals in response to movement of device housing <NUM>. The spatial state signals may correspond to a position and/or orientation of UID <NUM> in free space. The spatial state signals can be processed to control a motion of surgical robotic arm <NUM>. For example, when user <NUM> moves UID <NUM> rightward within the workspace, a surgical tool mounted on the surgical robotic arm may be controlled by one or more processors of the system to move rightward also. Similarly, rotating UID <NUM> about central axis <NUM> may cause the surgical tool, or an end effector of the surgical tool, to similarly rotate in space about a corresponding longitudinal axis.

Tracking sensor <NUM> may include an accelerometer, a gyroscope, a magnetometer, or one or more other transducers capable of converting physical movement into a corresponding electrical signal. For example, tracking sensor <NUM> may include a magnetic tracking probe capable of measuring six degrees of freedom, including physical displacement or translation in one or more directions (e.g., in XYZ space or another suitable coordinate system), roll, pitch, and yaw (e.g., rotation about one or more axes or tilting relative to one or more axes) of UID <NUM>. In an embodiment, several tracking sensors <NUM> are used to provide redundancy in position and/or orientation detection of UID <NUM>. The tracking sensor(s) <NUM> can output electrical signal(s), and the electrical signal(s) can be combined, e.g., averaged, into the spatial state signals. The spatial state signals may be used by the processor(s) of system <NUM> to cause motion of surgical robotic arm <NUM> and/or surgical tool <NUM>.

Tracking sensor <NUM> may additionally or alternatively include other types of sensors for tracking position and/or orientation of UID <NUM>. For example, tracking sensor <NUM> may include one or more gyrosocopes, accelerometers, and/or magnetometers, some of which may be part of an inertial measurement unit (IMU). These and other suitable sensors may be disposed on a printed circuit board in or on device housing <NUM> of UID <NUM>.

It is noted that, although UID <NUM> has been described as having surfaces of revolution and/or radially symmetric features about central axis <NUM>, this does not imply that the components of UID <NUM> are formed by a turning process. For example, the components of UID <NUM> having outward facing surfaces may be manufactured using injection molding processes. The molding processes may utilize molds having radially symmetric contours to form the surfaces as described above.

Referring to <FIG>, an exploded view of a UID is shown in accordance with an embodiment. The components of UID <NUM> can be spread along central axis <NUM> between a cap <NUM> at a proximal end <NUM> of UID <NUM> and strain relief <NUM> at a distal tip <NUM> of UID <NUM>. More particularly, proximal end <NUM> of UID <NUM> may be on cap <NUM>, and distal tip <NUM> of UID <NUM> may be on strain relief <NUM>. UID body <NUM>, device housing <NUM>, tracking sensor <NUM>, conductive pad <NUM>, pad mount <NUM>, and clutch cover <NUM> are similarly distributed along central axis <NUM> in the exploded view. In an embodiment, conductive pad <NUM> wraps around a portion of pad mount <NUM>. More particularly, pad mount <NUM> includes a pad surface <NUM> visible through a longitudinal slot formed between circumferential ends of conductive pad <NUM>. Conductive pad <NUM> may be mounted on pad mount <NUM> between pad surface <NUM> and an interior surface of clutch cover <NUM>.

Device housing <NUM> may be formed at least partially of a flexible material such as silicone, latex, or another suitable polymer or alloy. The housing material may be a medical grade material, and may be sterilizable, e.g., by autoclave, solvent wipe-down, etc. Device housing <NUM> may be removable from the rest of UID <NUM> for disposal.

UID body <NUM> may have a cylindrical shape. UID body <NUM> may be disposed along central axis <NUM> within device housing <NUM>. Accordingly, tracking sensor <NUM> may be disposed within device housing <NUM>, e.g., mounted within UID body <NUM>, and can be positioned on central axis <NUM>. Tracking sensor <NUM> may detect translation, rotation, or tilting of device housing <NUM> relative to central axis <NUM>.

UID <NUM> may include an internal volume to receive various electronics and/or other components. For example, UID <NUM> may include a UID processor <NUM> mounted within device housing <NUM>. The UID processor <NUM> may encompass circuitry for analog and digital signal processing, including sensing amplifier circuits and analog to digital conversion circuitry used to interface with the capacitive sensor, and logic circuitry including programmable logic or a programmable digital processor. UID processor <NUM> may be mounted on a printed circuit board <NUM> having various sensor terminals to connect UID processor <NUM> to device sensors, e.g., finger clutch <NUM> or tracking sensor <NUM>. A battery <NUM> may be mounted on the printed circuit board <NUM> to power electronic components of UID <NUM>. UID processor <NUM> may be received within a wall of UID body <NUM> such that the processor and electrical connection on the printed circuit board <NUM> are protected against physical impacts.

Electrical wire <NUM> (not shown) may extend along central axis <NUM> through central bores of each component of UID <NUM> to connect to UID processor <NUM>. For example, electrical wire <NUM> may extend along central axis <NUM> through strain relief <NUM>, pad mount <NUM>, tracking sensor <NUM>, and UID body <NUM> to attach to a terminal on UID processor <NUM> or printed circuit board <NUM>. UID processor <NUM> may also be electrically connected to conductive pad <NUM>. For example, a wire may be joined to UID processor <NUM> at one end and joined to conductive pad <NUM> at another end. The wire, which may be a different electrical connector than electrical wire <NUM>, may therefore extend between UID processor <NUM> or printed circuit board <NUM> and conductive pad <NUM>. A first end of the wire may be attached to a terminal on UID processor <NUM> or printed circuit board <NUM>, and a second end of the wire may be attached to conductive pad <NUM>. The wire may conduct a capacitance signal to UID processor <NUM> that may be compared to a ground terminal. The ground terminal may be on UID processor <NUM> or printed circuit board <NUM>. Accordingly, UID processor <NUM> may be configured to detect and/or measure a magnitude and/or change of capacitance of conductive pad <NUM> based on the capacitance signal received through the wire from conductive pad <NUM>.

UID <NUM> may include other circuitry. By way of example, UID <NUM> can include a drop detection sensor in device housing <NUM>. For safety reasons, an interlock may be used to prevent unintentional instrument movement when UID <NUM> is dropped. For example, the drop detection sensor can generate a drop signal in response to entering a free fall state when dropped. In an embodiment, the drop detection sensor is a tracking sensor (<FIG>), which monitors movement of UID <NUM>. When the tracking sensor detects movement corresponding to a dropped state, the sensor generates a clutch signal to pause all motion of surgical robotic system <NUM>.

In an embodiment, UID <NUM> includes a gripping sensor <NUM> in device housing <NUM>. In an embodiment, gripping sensor <NUM>, when squeezed, generates a grip signal. More particularly, gripping sensor <NUM> is configured to generate a grip signal in response to a squeeze on device housing <NUM>. Accordingly, gripping sensor <NUM> can detect when user <NUM> squeezes device housing <NUM>. The detected squeeze may be a seventh degree of freedom sensation by UID <NUM>, in addition to the six degrees of freedom detected by tracking sensor <NUM>. More particularly, an end effector, such as a grasper, of surgical tool <NUM> can have a pose and position in space that changes in response to an orientation signal from the tracking sensor, and a gripping configuration that changes in response to the grip signal from gripping sensor <NUM>. The grip signal can cause motion of an actuator of surgical robotic system <NUM> to change the gripping configuration. For example, the end effector of surgical tool <NUM> may include fingers that simulate movement of fingers of operator <NUM>. When operator <NUM> squeezes device housing <NUM>, gripping sensor <NUM> can generate the grip signal to cause the grasper to close. When operator <NUM> releases device housing (or squeezes less), the grip signal can change to cause the grasper to open. Accordingly, surgical robotic system <NUM> can include an actuator <NUM> that moves the end effector, e.g., the grasper, of surgical tool <NUM> based on the grip signal.

Gripping sensor <NUM> can measure the opening and/or closing of the fingers of operator <NUM>. Gripping sensor <NUM> can be a grip flex circuit. The grip flex circuit may be a printed circuit wrapped around an outer surface of UID body <NUM>. The grip flex circuit can detect when user <NUM> squeezes device housing <NUM>. Device housing <NUM> may be formed from a compliant material, such as silicone, to be resilient under the squeeze of the user <NUM>. User <NUM> may squeeze device housing <NUM> as an input command to cause movement of surgical robotic arm <NUM> or surgical tool <NUM>. When user <NUM> squeezes device housing <NUM>, device housing <NUM> can deform grip flex circuit <NUM> and the physical deformation may be converted into an electrical signal, e.g., a capacitance signal. The electrical signal may be transmitted to UID processor <NUM>, which may have onboard analog and digital electronics to process the electrical signal to detect the squeeze and output a control signal, e.g., the grip signal, corresponding to the user input. One or more processors of system <NUM> can receive and process the grip signal to control movement of surgical tool <NUM>. Accordingly, the squeeze by user <NUM> may cause an end effector of the surgical robotic arm, e.g., a grasper, to pinch.

Gripping sensor <NUM> can detect a change in capacitance representing the squeeze, or may include a proximity sensor to detect proximity (or change in distance) to an inner wall of device housing <NUM> by other means. Gripping sensor <NUM> may include any suitable type of proximity sensor for detecting the change in proximity. For example, gripping sensor <NUM> may include an optical sensor that emits and/or detects returned electromagnetic radiation, e.g., infrared radiation. In another example, gripping sensor <NUM> may include a capacitive sensor, an ultrasonic sensor, a magnetic sensor, an inductive sensor, or other suitable kind of proximity sensor.

In a variation, UID <NUM> may include at least one squeeze sensor in the form of a capacitive sensor configured to detect a touch between device housing <NUM> and the hand of the user holding the housing. For example, a capacitive sensor pad may be disposed on an external surface of UID body <NUM> and configured to detect hand-based squeezing of the housing by measuring proximity (or change in distance) between the hand of the user holding housing <NUM> and UID body <NUM>. Alternatively, the capacitive sensor may be disposed on an inner wall of housing <NUM>, or another suitable fixed reference point in UID <NUM>.

The components illustrated in <FIG> may be replaced by other similar components. For example, in an embodiment, the capacitive sensor of finger clutch <NUM> may have any of the structures described below with respect to <FIG>. Similarly, other components of <FIG> may be replaced with another embodiment shown in other figures.

Referring to <FIG>, a perspective view of a conductive pad of a UID <NUM> is shown in accordance with an embodiment. The capacitive sensor of finger clutch <NUM> may include several capacitive pads. For example, finger clutch <NUM> may include conductive pad <NUM> and a second conductive pad <NUM> mounted on pad mount <NUM>. Each conductive pad <NUM> may be a conductive tape wrapped around a portion of pad mount <NUM>. The conductive tape may be a copper tape. The first conductive pad <NUM> may be a conductive tape wrapped around a portion, e.g., half, of pad surface <NUM>, and second conductive pad <NUM> may be a conductive tape wrapped around another portion, e.g., a second half of pad surface <NUM>. Accordingly, each conductive pad may have a shape of a segment of a frustoconical shape. The segment may be a portion circumferentially between two longitudinal planes that intersect along central axis <NUM>. The conductive pads <NUM>, <NUM> may be separated from each other by longitudinal gaps <NUM> extending between adjacent circumferential edges of the conductive tape segments.

Referring to <FIG>, a perspective view of a conductive pad <NUM> of a UID <NUM> is shown in accordance with an embodiment. Conductive pad <NUM> may be a conductive film <NUM>. For example, conductive film <NUM> may be a thin sheet of aluminum. Conductive film <NUM> may be wrapped around pad surface <NUM>. The film may wrap entirely around pad surface <NUM> such that one circumferential end of the film overlaps another circumferential end of the film. Alternatively, the circumferential ends may be separated by a longitudinal gap <NUM>, as shown in <FIG>.

Referring to <FIG>, a perspective view of a conductive pad <NUM> of a UID <NUM> is shown in accordance with an embodiment. Conductive pad <NUM> may be a flex circuit <NUM> mounted on pad mount <NUM>. Flex circuit <NUM> can include a non-conductive polymer substrate <NUM>, and several printed pads <NUM> (conductive) may be disposed on polymer substrate <NUM>. Printed pads <NUM> may be regions formed by patterning a conductive material, e.g., copper, on an outer surface of polymer substrate <NUM>. Accordingly, several printed pads <NUM> may provide distinct conductive regions along an outer surface of flex circuit <NUM>. Each printed pad <NUM> may be individually sensed by UID processor <NUM>. For example, a respective wire or electrical trace may extend between each pad and a respective terminal of a sensing amplifier circuit (not shown) of the UID processor <NUM>. Dividing conductive pad <NUM> into several electrically isolated regions as shown in <FIG> may allow UID <NUM> to detect input gestures such as swiping, e.g., a swipe gesture. More particularly, when user <NUM> swipes over outer touch surface <NUM> of finger clutch <NUM>, a change in capacitance may be sequentially sensed at a first printed pad 710a and then at a second printed pad 710b adjacent to the first printed pad 710a. For example, UID processor <NUM> may be configured to detect a sequence of changes in respective capacitances of first conductive pad 710a and second conductive pad 710b. The sequential change in capacitance can be detected as a swipe gesture over the array of pads. The swipe gesture may be a command to cause a surgical robotic arm to perform a predetermined operation.

Finger clutch <NUM> may be located such that the capacitive sensor does not interfere with normal use of UID <NUM>. For example, the capacitive sensor may be mounted on the distal end of UID <NUM> beyond gripping surface <NUM> where user <NUM> normally holds UID <NUM>. Alternatively, finger clutch <NUM> may be mounted on a proximal end of device housing <NUM>, e.g., at proximal end <NUM> on cap <NUM>. In any case, finger clutch <NUM> may be within reach of an extended finger of user <NUM>. An outer surface of finger clutch <NUM> may be shaped to reduce the likelihood of accidental contact between the fingers of user <NUM> and outer touch surface <NUM> of finger clutch <NUM>. Several finger clutch <NUM> shapes and configurations are described below.

Referring to <FIG>, a side view of a UID <NUM> having an alternative finger clutch shape is shown. In an embodiment, UID <NUM> includes device housing <NUM> having a radially symmetric profile, as described above. Finger clutch <NUM> of UID <NUM> may also have a radially symmetric profile. In an embodiment, finger clutch <NUM> includes a capacitive sensing region <NUM> and a non-sensing region <NUM>. Capacitive sensing region <NUM> may be a portion of finger clutch having an underlying conductive pad <NUM>. In <FIG>, capacitive sensing region <NUM> is illustrated by cross-hatch filler marks and non-sensing region <NUM> is illustrated by having no filler marks.

Second surface of revolution <NUM> of finger clutch <NUM> may have a longitudinal contour extending from housing end <NUM> to distal tip <NUM> along a curvilinear path. A radius of second surface of revolution <NUM> about central axis <NUM> may continuously reduce in a distal direction, such that a diameter of finger clutch <NUM> is largest at housing end <NUM> and is smallest at distal tip <NUM>. The curvilinear path extending over second surface of revolution <NUM> may be convex outward near housing end <NUM>, and concave inward near distal tip <NUM>. In an embodiment, capacitive sensing region <NUM> covers a portion of finger clutch <NUM> adjacent to housing end <NUM>. For example, capacitive sensing region <NUM> may extend over the convex outward portion of the outer surface of clutch cover <NUM>. The convex outward portion may extend no more than half of a length of finger clutch <NUM> between housing end <NUM> and distal tip <NUM>. By contrast, non-sensing region <NUM> of finger clutch <NUM> may extend over the concave inward portion of finger clutch <NUM>. The shape of finger clutch <NUM> shown in <FIG> can allow user <NUM> to rest an extended finger at distal tip <NUM> while moving surgical robotic arm <NUM>, and then to retract the extended finger to touch capacitive sensing region <NUM> to pause motion of surgical robotic arm <NUM>.

Referring to <FIG>, a side view of a UIDs <NUM> having an alternative finger clutch shape is shown in an embodiment, capacitive sensing region <NUM> covers an entire outer surface of finger clutch <NUM>. In an embodiment, finger clutch <NUM> has a frustoconical profile between housing end <NUM> and distal tip <NUM>. The frustoconical second surface of revolution <NUM> may have a radius that decreases linearly from housing end <NUM> to distal tip <NUM>. The shape of finger clutch <NUM> shown in <FIG> can allow user <NUM> to touch any location on finger clutch <NUM> to pause motion of surgical robotic arm <NUM>.

Referring to <FIG>, a side view of a UID <NUM> having an alternative finger clutch shape is shown. In an embodiment, finger clutch <NUM> includes a cylindrical hub <NUM> near housing end <NUM> and a disc portion <NUM> at distal tip <NUM>. Cylindrical hub <NUM> may have a constant radius about central axis <NUM> over a length between housing end <NUM> and disc portion <NUM>. Similarly, disc portion <NUM> may have a constant radius about central axis <NUM> over a length between cylindrical hub <NUM> and distal tip <NUM>. As shown, transition features may be incorporated at transition locations along finger clutch <NUM>, such as a fillet between cylindrical hub <NUM> and disc portion <NUM>, or a chamfered or curved edge along an outer edge of disc portion <NUM>. In an embodiment, distal portion has a disc diameter <NUM> about central axis <NUM> that is larger than the maximum diameter of device housing <NUM>, e.g., the diameter of ridge <NUM>. Capacitive sensing region <NUM> may extend along an outer edge of disc portion <NUM> and not over a proximal wall of disc portion <NUM> or cylindrical hub <NUM>. Accordingly, user <NUM> may rest an extended finger against cylindrical hub <NUM> or the proximal wall of disc portion <NUM> without triggering the finger clutch <NUM>. The shape of finger clutch <NUM> shown in <FIG> can allow user <NUM> to reach toward the edge of disc portion <NUM> at a distance greater than the maximum diameter of device housing <NUM> to trigger finger clutch <NUM>. Such finger extension may require greater volition by user <NUM>, and thus, can reduce a likelihood of false triggering of finger clutch <NUM>.

Referring to <FIG>, a side view of a UID <NUM> having an alternative finger clutch shape is shown. In an embodiment, second surface of revolution <NUM> of finger clutch <NUM> may have a convex outward shape between housing end <NUM> and distal tip <NUM>. The convex outward shape may have a radius about central axis <NUM> that reduces between housing end <NUM> and distal tip <NUM>. Capacitive sensing region <NUM> of finger clutch <NUM> may extend over a distal portion of finger clutch <NUM>.

Referring to <FIG>, a side view of a UID <NUM> having an alternative finger clutch shape is shown. In an embodiment, finger clutch <NUM> includes a cylindrical hub <NUM> near housing end <NUM> and a disc portion <NUM> at distal tip <NUM>. Cylindrical hub <NUM> may have a constant radius about central axis <NUM> over a length between housing end <NUM> and disc portion <NUM>. Similarly, disc portion <NUM> may have a constant radius about central axis <NUM> over a length between cylindrical hub <NUM> and distal tip <NUM>. In contrast to <FIG>, disc portion <NUM> of <FIG> may not include transition features. For example, an outer edge of disc portion <NUM> may have a straight cylindrical wall, rather than a curved wall. In an embodiment, distal portion has a disc diameter <NUM> about central axis <NUM> that is smaller than the maximum diameter of device housing <NUM>. Capacitive sensing region <NUM> may extend along an outer edge of disc portion <NUM> and not over a proximal wall of disc portion <NUM> or over cylindrical hub <NUM>. Accordingly, user <NUM> may rest an extended finger against cylindrical hub <NUM> or the proximal wall of disc portion <NUM> without triggering the finger clutch <NUM>. The shape of finger clutch <NUM> shown in <FIG> can allow user <NUM> to reach toward the edge of disc portion <NUM> to trigger finger clutch <NUM>. Such finger extension may require greater volition by user <NUM>, and thus, can reduce the likelihood of false triggering of finger clutch <NUM>.

Finger clutch <NUM> includes a capacitive sensor that advantageously does not require application of force to actuate. As described above, actuating a switch that requires an actuation force or pressure can cause unintentional movements of surgical robotic arm <NUM>. By contrast, the capacitive sensor of finger clutch <NUM> can be actuated when user <NUM> lightly places a finger on clutch cover <NUM>. Such actuation can be advantageous, however, false triggering of the capacitive sensor should be avoided. As described above, finger clutch <NUM> may be shaped and configured to reduce the likelihood of false triggering of the clutch mechanism. For example, conductive pad(s) <NUM> can be located to form capacitive sensing region <NUM> at locations that are less likely to be accidentally touched by user <NUM> during use of UID <NUM>. The likelihood of false triggering may also be reduced by requiring user gestures that are indicative of user volition.

UID processor <NUM> may be configured to determine, in response to a change in the capacitance of conductive pad <NUM>, that a predetermined touch gesture has been performed by user <NUM>. More particularly, the predetermined touch gesture of clutch cover <NUM> by user <NUM> may be determined by UID processor <NUM>. In an embodiment, UID processor <NUM> is configured to determine the predetermined touch has occurred when the change of capacitance is for a predetermined period of time. For example, UID processor <NUM> may detect a long tap on finger clutch <NUM> by user <NUM>. The long tap may be a gesture by user <NUM> that includes resting an extended finger on capacitive sensing region <NUM> for the predetermined period of time, e.g., at least <NUM> seconds. When the change of capacitance detected by UID processor <NUM> is greater than a predetermined threshold for the predetermined period of time, UID processor <NUM> can determine that user <NUM> has touched clutch cover <NUM>. Accordingly, UID processor <NUM> can generate a clutch signal that is transmitted to computer system <NUM>. The clutch signal can be a clutch activation signal to pause motion of surgical robotic arm <NUM>, as described above.

It will be appreciated that finger clutch <NUM> may include one or more sensor types to detect a touch by user <NUM>. More particularly, although finger clutch <NUM> has been primarily described as including a capacitive sensor, finger clutch <NUM> may incorporate a different type of sensor to determine that user <NUM> has touched outer touch surface <NUM>. In an embodiment, finger clutch <NUM> includes a proximity sensor to detect a presence of the finger of user <NUM>. Accordingly, finger clutch <NUM> can include an emitter to emit an electromagnetic field or a beam of electromagnetic radiation, and a receiver to detect a return signal from the emission. By way of example, finger clutch <NUM> may include an optical emitter and an optical receiver to detect the touch by user <NUM>. Accordingly, the embodiments described above encompass finger clutch <NUM> having sensors of different types that detect touch based on a presence or proximity of an object without requiring the detection of a threshold force applied by the object on finger clutch <NUM>.

Referring to <FIG>, a block diagram of a computer portion of a surgical robotic system is shown in accordance with an embodiment. Surgical robotic system <NUM> can include UID(s) <NUM>, user console <NUM> having computer system <NUM>, and robotic components <NUM>, <NUM>. Computer system <NUM> and UID <NUM> have circuitry suited to specific functionality, and thus, the diagrammed circuitry is provided by way of example and not limitation.

One or more processors of user console <NUM> can control portions of surgical robotic system <NUM>, e.g., surgical robotic arms <NUM> and/or surgical tools <NUM>. UID <NUM> may be communicatively coupled to computer system <NUM> and/or surgical robotic system <NUM> to provide input commands that are processed by one or more processors of system <NUM> to control movement of surgical robotic arm <NUM> and/or surgical tool <NUM> mounted on the arm. For example, UID <NUM> may communicate electrical command signals <NUM> to computer system <NUM>, e.g., spatial state signals generated by UID processor <NUM> in response to signals from tracking sensor <NUM>, or clutch signals generated by UID processor <NUM> in response to detected changes in capacitance of conductive pad <NUM> of finger clutch <NUM>. The electrical signals may be input commands to cause motion of surgical robotic system <NUM>, or to pause motion of surgical robotic system <NUM>.

The input electrical signals may be transmitted by UID processor <NUM> to a console processor <NUM> of computer system <NUM> via a wired or wireless connection. For example, UID <NUM> may transmit the command signals <NUM> to console processor <NUM> via electrical wire. Alternatively, UID <NUM> may transmit command signals <NUM> to console processor <NUM> via a wireless communication link. The wireless communication link may be established by respective RF circuitry of computer system <NUM> and UID <NUM>. The wireless communication can be via radiofrequency signals, e.g., Wi-Fi or short range signals and/or suitable wireless communication protocols such as Bluetooth.

Console processor <NUM> of computer system <NUM> may execute instructions to carry out the different functions and capabilities described above. Instructions executed by console processor(s) <NUM> of user console <NUM> may be retrieved from a local memory (not shown), which may include a non-transitory machine-readable medium. The instructions may be in the form of an operating system program having device drivers to control components of surgical robotic system <NUM>, e.g., actuators <NUM> operatively coupled to surgical robotic arm(s) <NUM> or surgical tool(s) <NUM>.

In an embodiment, console processor <NUM> controls components of user console <NUM>. For example, one or more seat actuators <NUM> can receive commands from console processor <NUM> to control movement of seat <NUM>. Seat actuator(s) <NUM> can move seat <NUM> in one or more degrees of freedom, such as forward/backward, backrest tilt, headrest position, etc. Console processor <NUM> can also transmit video data for presentation on display <NUM>. Accordingly, console processor <NUM> can control operation of user console <NUM>. Input commands to seat actuator(s) <NUM> or console processor <NUM> can be entered by the user via foot pedal(s) <NUM> or another input device <NUM> such as a keyboard or a joystick.

Console processor <NUM> can output control signals <NUM> to other components of surgical robotic system <NUM> via a link <NUM>. Control signals <NUM> may be transmitted to control movement of surgical robotic system <NUM>. In an embodiment, computer system <NUM> is communicatively coupled to downstream components of surgical robotic system <NUM>, e.g., control tower <NUM>, via wired or wireless links. The links can transmit control signals <NUM> to one or more surgical system processor(s) <NUM>. For example, at least one processor <NUM> can be located in control tower <NUM>, and may be communicatively coupled to system components, such as surgical robotic platform <NUM> or one or more displays <NUM>. Actuators <NUM> of surgical robotic system <NUM> may receive control signals from surgical system processor <NUM> to cause movement of arm <NUM> and/or tool <NUM> corresponding to movement of UID <NUM>. The control signals can also pause motion of the robotic components by clutching and/or disconnecting an interlock of surgical robotic system <NUM> when user <NUM> touches finger clutch <NUM> or drops UID <NUM>.

A method of using UID <NUM> having finger clutch <NUM> to cause motion of surgical robotic system <NUM> is provided below. It will be appreciated that this method summarizes operations previously described, and does not include every operation described. Accordingly, the method described below is provided by way of illustration and not limitation.

At an operation, UID processor <NUM> receives spatial state signals from tracking sensor <NUM> and/or the grip signal from gripping sensor <NUM>. The signals can be transmitted by UID processor <NUM> to one or more processors of user console <NUM> and/or control tower <NUM>. The one or more processors can process the input signals to generate output control signals. The output control signals can cause movement of actuators <NUM>, which can move arm <NUM> and/or tool <NUM>. The movement may be based on spatial state signals <NUM> and/or the grip signal. For example, actuators <NUM> can move surgical robotic arm <NUM> in response to the generation of spatial state signals <NUM>. Similarly, actuators <NUM> can move surgical tool <NUM> in response to the grip signal. For example, a grasper of surgical tool <NUM> may close when the grip signal represents the operator <NUM> squeezing device housing <NUM>. Surgical tool <NUM> may be coupled to arm <NUM>, and thus, movement of actuators <NUM> can move both surgical robotic arm <NUM> and surgical tool <NUM>.

At an operation, UID processor <NUM> can detect a capacitance of conductive pad <NUM>. At an operation, UID processor <NUM> can determine, in response to a change in the capacitance of the conductive pad, a touch by a user. UID processor <NUM> may generate a clutch signal <NUM>, e.g., a clutch activation signal, in response to determining the touch.

One or more processors of surgical robotic system <NUM> can receive and process clutch signal <NUM> from UID <NUM>, e.g., via computer system <NUM>. Surgical robotic system <NUM> can pause movement of one or more of actuators <NUM> in response to the clutch signal <NUM>. The movement can be stopped regardless of spatial state signals <NUM> and/or the grip signal. For example, user <NUM> may move UID <NUM> to a new location without causing a corresponding movement of surgical robotic arm <NUM> or surgical tool <NUM>. Similarly, the squeeze exerted by the user may change when finger clutch <NUM> is touched, but there may be no corresponding change in the opened or closed position of the grasper of surgical tool <NUM>. Accordingly, finger clutch <NUM>, which may be a touch sensor, can pause teleoperation of surgical robotic arm <NUM> and surgical tool <NUM> in all seven degrees of freedom detected by UID <NUM>.

UID processor <NUM> can determine other user gestures based on detected capacitances. For example, UID processor <NUM> may detect a sequence of changes in respective capacitances of a first conductive pad <NUM> and a second conductive pad <NUM>. For example, a capacitance of the first conductive pad <NUM> may change at a first time, and a capacitance of the second conductive pad <NUM> may change at a second time after the first time. In response to detecting the sequence of changes of the respective capacitances, UID processor <NUM> may determine that user <NUM> has made a swipe gesture. An input signal, e.g., clutch signal <NUM>, may be generated by UID processor <NUM> in response to determining the swipe gesture by user <NUM>, and the input signal can be used by the processor(s) of surgical robotic system <NUM> to control motion or another operation of surgical robotic system <NUM>.

Referring to <FIG>, a side view of a user interface device having grip linkages is shown in accordance with an embodiment. Finger clutch <NUM> can be incorporated into UID <NUM> having grip linkages that may be finger-held and manipulated to provide highly dexterous, precise movements of a surgical tool of a surgical robotic system. For example, alternative embodiments of UID <NUM> are described in <CIT>. Such embodiments of UID <NUM> can include several grip cranks <NUM> that are used to command operation of surgical robotic system <NUM>, as described in that application. In an embodiment, finger clutch <NUM> can be incorporated into the alternative embodiments of UID <NUM> to provide the functionality described above, e.g., to pause the system operation. Accordingly, it will be appreciated that finger clutch <NUM> can be incorporated into any design of UID <NUM>, and the various embodiments of UID <NUM> described above are to be regarded in an illustrative and not a restrictive sense.

Claim 1:
A user interface device for manipulating a robotic surgical tool in a surgical robotic system, comprising:
a device housing (<NUM>) having a central axis, wherein the device housing (<NUM>) has a housing end;
a tracking sensor configured to generate a plurality of spatial state signals tracking movement of the device housing in six degrees of freedom, and wherein the plurality of spatial state signals are input to the surgical robotic system for controlling motion of the robotic surgical tool; and
a finger clutch (<NUM>) mounted on the housing end, (<NUM>), wherein the finger clutch (<NUM>) includes a conductive pad extending over at least <NUM> degrees around the central axis, wherein the finger clutch (<NUM>) is configured to, when pressed, generate a clutch signal to pause motion of the robotic surgical tool regardless of the spatial state signals.