User interface devices for use in robotic surgery

1. A handheld user interface device for controlling a robotic system, the user interface device comprising:

a lumen;

a flexible housing having an inner housing wall and an outer housing wall and is at least partially disposed around the lumen, and is configured to be held in the hand of a user;

at least one capacitive sensor configured to detect the user squeezing the flexible housing by sensing deformation of the inner housing wall; and

at least one tracking sensor that is at least partially disposed on or in the lumen configured to detect at least one of position and orientation of at least a portion of the device;

wherein at least one of the detected squeezing of the flexible housing, detected position of the portion of the device, and detected orientation of the portion of the device correlates to a control of the robotic system.

2. The handheld user interface device of claim 1 , wherein the capacitive sensor is at least partially disposed on the lumen.

3. The handheld user interface device of claim 2 , wherein the capacitive sensor senses deformation of the inner housing wall by measuring proximity between a first conductive surface on the lumen and a second conductive surface on the inner housing wall.

4. The handheld user interface device of claim 1 , wherein the capacitive sensor is a first capacitive sensor, wherein the handheld user interface device further comprises a second capacitive sensor comprising a plurality of discrete sensor regions configured to detect gestures performed by the hand of the user on the flexible housing.

5. The handheld user interface device of claim 2 , wherein the capacitive sensor senses deformation of the inner housing by measuring a change in distance between the lumen and the inner housing wall of the flexible housing.

6. The handheld user interface device of claim 1 , wherein the capacitive sensor comprises a plurality of discrete sensor regions configured to detect gestures performed by the hand of the user on the flexible housing.

7. The handheld user interface device of claim 1 , wherein the capacitive sensor is configured to detect a disengagement of the hand of the user from the flexible housing.

8. The handheld user interface device of claim 1 , wherein the detected position or detected orientation of the portion of the device correlates to control of a robotic arm or an end effector.

9. The handheld user interface device of claim 1 , wherein the squeezing of the flexible housing correlates to control of an end effector of the robotic system.

10. The handheld user interface device of claim 1 , wherein the at least one tracking sensor comprises an electromagnetic probe disposed in the lumen.

11. The handheld user interface device of claim 1 , wherein the lumen has a proximal end and a distal end, wherein at least one of proximal end and the distal end comprises an engagement feature configured to couple to a detachable adapter.

12. The handheld user interface device of claim 1 , wherein at least a portion of the at least one tracking sensor is removable from at least one of the lumen and the flexible housing, to enable disposal of at least one of the lumen and the flexible housing.

13. A handheld user interface device for controlling a robotic system, the user interface device comprising:

a hollow body having a proximal end and a distal end, wherein at least one of the proximal end and the distal end comprises an engagement feature configured to couple to a detachable adapter;

a flexible housing having an inner housing wall and an outer housing wall and is at least partially disposed around the hollow body and is configured to be held in the hand of a user;

at least one capacitive sensor configured to detect the user squeezing the flexible housing by sensing deformation of the inner housing wall; and

at least one tracking sensor configured to detect at least one of position and orientation of at least a portion of the device, wherein the detected position or orientation of the portion of the device correlates to a control of the robotic system.

14. The handheld user interface device of claim 13 , wherein the detachable adapter comprises at least one optical tracking marker.

15. The handheld user interface device of claim 13 , wherein the detachable adapter comprises an elongated stylus member.

16. The handheld user interface device of claim 13 , wherein the detachable adapter comprises a movable disc.

17. The handheld user interface device of claim 13 , wherein the detected position or detected orientation of the portion of the device correlates to control of a robotic arm or an end effector.

18. The handheld user interface device of claim 13 , wherein the capacitive sensor is at least partially disposed on the hollow body.

19. The handheld user interface device of claim 18 , wherein the capacitive sensor senses deformation on the inner housing wall by measuring proximity between a first conductive surface on the hollow body and a second conductive surface on the inner housing wall.

20. A handheld user interface device for controlling a robotic system, the user interface device comprising:

a hollow body;

a flexible housing having an inner housing wall and an outer housing wall and is at least partially disposed around the hollow body, and is configured to be held in the hand of a user;

at least one capacitive sensor configured to detect the user squeezing the flexible housing by sensing deformation of the inner housing wall; and

at least one tracking sensor disposed on the hollow body and configured to detect at least one of position and orientation of at least a portion of the device, wherein at least one of the detected position of the portion of the device and detected orientation of the portion of the device correlates to a control of the robotic system,

wherein at least a portion of the at least one tracking sensor is removable from the hollow body to enable disposal of at least one of the hollow body and the flexible housing.

21. The handheld user interface device of claim 1 , wherein the lumen and the at least one tracking sensor are removeably coupled within the flexible housing.