User interface device having finger clutch
User interface devices for manipulating a robotic surgical tool in a surgical robotic system are described. A user interface device can include a device housing having a gripping surface symmetrically disposed about a central axis. The gripping surface can include a surface of revolution about the central axis. A tracking sensor can be mounted within the device housing to generate spatial state signals in response to movement of the device housing. The spatial state signals can be used to control motion of robotic system actuators. A finger clutch can be disposed at an end of the device housing, and can generate a clutch signal in response to a touch by a user. The clutch signal can be used to pause the motion of the robotic system actuators. Other embodiments are also described and claimed.
1. A user interface device for manipulating a robotic surgical tool in a surgical robotic system, comprising:
a device housing having a central axis;
a tracking sensor in the device housing, configured to generate a plurality of spatial state signals tracking movement of the device housing in six degrees of freedom, wherein the robotic surgical tool is mounted on a surgical robotic arm, wherein a plurality of actuators are coupled to the surgical robotic arm and the robotic surgical tool, and wherein the plurality of spatial state signals are input to one or more processors of the surgical robotic system to control proportional motion of the plurality of actuators for controlling motion of the robotic surgical tool; and
a finger clutch having a touch-sensitive surface including a surface of revolution facing radially outward from the central axis, wherein the finger clutch is configured to, when touched, generate a clutch signal to cause the one or more processors of the surgical robotic system to pause motion of the robotic surgical tool regardless of the spatial state signals.
2. The user interface device of claim 1 , further comprising a gripping sensor in the device housing configured to, when squeezed, generate a grip signal to cause a grip motion of the robotic surgical tool, wherein the finger clutch, when activated, generates the clutch signal regardless of the grip signal.
3. The user interface device of claim 1 , wherein the device housing has a gripping surface, wherein the gripping surface includes a second surface of revolution about the central axis, wherein the device housing has a housing end, wherein the finger clutch is mounted on the housing end, and wherein the finger clutch includes a conductive pad extending around the central axis.
4. The user interface device of claim 3 , wherein the second surface of revolution includes a gripping surface contour revolved about the central axis.
5. The user interface device of claim 3 , wherein the finger clutch includes a pad mount fixed to the housing end, and wherein the conductive pad is mounted on the pad mount.
6. The user interface device of claim 5 , wherein the finger clutch includes a clutch cover over the conductive pad, and wherein the clutch cover includes the touch-sensitive surface having the second surface of revolution about the central axis.
7. The user interface device of claim 6 , wherein the surface of revolution is frustoconical.
8. The user interface device of claim 6 , wherein the pad mount includes a pad surface, and wherein the conductive pad is a conductive tape between the pad surface and the clutch cover.
9. The user interface device of claim 6 , wherein the pad mount includes a pad surface, and wherein the conductive pad is a flex circuit between the pad surface and the clutch cover.
10. The user interface device of claim 6 further comprising:
a first electrical wire extending through the pad mount, wherein the first electrical wire is electrically coupled to a user interface device processor mounted within the device housing; and
a second electrical wire joined to the user interface device processor at a first end and joined to the conductive pad at a second end.
11. The user interface device of claim 10 , wherein the user interface device processor is configured to:
measure a capacitance of the conductive pad, and
generate the clutch signal in response to detecting a change in the capacitance.
12. The user interface device of claim 11 , wherein the user interface device processor is configured to generate the clutch signal when the change in the capacitance is for a predetermined period of time.
13. The user interface device of claim 11 further comprising a second conductive pad mounted on the pad mount, and wherein the user interface device processor is configured to detect a sequence of changes in respective capacitances of the conductive pad and the second conductive pad.
14. The user interface device of claim 3 , wherein the central axis is an axis of symmetry, wherein the gripping surface is radially symmetric about the axis of symmetry, and wherein the finger clutch includes a clutch cover over the conductive pad.
15. The user interface device of claim 14 further comprising a user interface device processor configured to:
measure a capacitance of the conductive pad, and
generate the clutch signal in response to detecting a change in the capacitance.
16. The user interface device of claim 1 , wherein the surface of revolution comprises a longitudinal gap.
17. A surgical robotic system, comprising:
one or more robotic surgical tools each mounted on a robotic arm, wherein a plurality of actuators are coupled to the robotic arm and the one or more robotic surgical tools;
one or more user interface devices, wherein each user interface device includes
a device housing having a central axis,
a tracking sensor configured to track movement of the device housing in six degrees of freedom and generate a plurality of input pose signals for manipulating a spatial motion of a corresponding robotic surgical tool,
a gripping sensor configured to, when squeezed, generate a grip signal for manipulating a grip motion of the corresponding robotic surgical tool, and
a finger clutch having a touch-sensitive surface including a surface of revolution facing radially outward from the central axis, wherein the finger clutch is configured to,
when touched, generate a clutch signal for pausing the spatial motion and the grip motion of the corresponding robotic surgical tool; and
one or more processors communicatively coupled to the one or more user interface devices and the one or more robotic surgical tools, wherein the processors are configured to control the robotic surgical tools based on at least one of the input pose signals, the grip signal, or the clutch signal, and wherein the clutch signal causes the one or more processors to pause the spatial motion and the grip motion of the corresponding robotic surgical tool.
18. The surgical robotic system of claim 17 , wherein the finger clutch is mounted on one end of the device housing, and wherein the finger clutch includes a conductive pad extending around the central axis.
19. The surgical robotic system of claim 18 further comprising a user interface device processor mounted within the device housing, wherein the user interface device processor is configured to:
measure a capacitance of the conductive pad, and
generate the clutch signal in response to detecting a change in the capacitance.
20. The surgical robotic system of claim 18 , wherein the finger clutch includes a plurality of conductive pads, and wherein the user interface device processor is further configured to:
detect a sequence of changes in respective capacitances of the plurality of conductive pads, and
determine based on the sequence of changes in the respective capacitances, a swipe gesture by a user.