User interface device
A user interface device for controlling a robot manipulator having an end effector comprising at least one movable element, the user interface device comprising: a body for being held by a user, the body comprising an elongate grip portion configured to be gripped by one or more of a user's second to fourth fingers; a trigger extending transversely to the direction of elongation of the grip portion, the trigger being supported by the body so as to be capable of rotating relative to the body about a rotation axis passing through the grip portion; and a drive mechanism at least partially housed in the grip portion, the drive mechanism being coupled to the trigger for applying a torque to the trigger.
1. A user interface device configured to control a robot manipulator having an end effector comprising at least one movable element, the user interface device comprising:
a body configured to be held by a user, the body comprising an elongate grip portion configured to be gripped by one or more of a user's second to fourth fingers and a head portion attached to the grip portion;
a trigger external to the head portion, the trigger extending transversely to the direction of elongation of the grip portion and lying alongside an external face of the head portion, the trigger being supported by the head portion so as to be configured to rotate relative to the head portion about a rotation axis passing through the grip portion; and
a drive mechanism at least partially housed in the grip portion, the drive mechanism being coupled to the trigger in order to apply a torque to the trigger.
2. A user interface device as claimed in claim 1 , wherein the body is configured to be gripped in normal use by a single hand of the user.
3. A user interface device as claimed in claim 1 , wherein the head portion defines a recess on the side thereof opposite the trigger, the recess being configured to receive the thumb of a user gripping the grip portion.
4. A user interface device as claimed in claim 1 , wherein the trigger is located relative to the grip portion for engagement by the first finger of a user gripping the grip portion.
5. A user interface device as claimed in claim 1 , wherein the drive mechanism comprises a motor, the majority of the volume of the motor being located within the grip portion.
6. A user interface device as claimed in claim 5 , wherein the rotation axis of the trigger is coincident with the rotation axis of the motor.
7. A user interface device as claimed in claim 1 , wherein the drive mechanism comprises a gearbox, the majority of the volume of the gearbox being located within the grip portion.
8. A user interface device as claimed in claim 1 , wherein the drive mechanism terminates in a drive shaft, the drive shaft being coincident with the rotation axis of the trigger.
9. A user interface device as claimed in claim 8 , wherein the trigger is carried by the drive shaft.
10. A user interface device as claimed in claim 8 , wherein the length of the grip portion along the axis of elongation is greater than 50 mm.
11. A user interface device as claimed in claim 1 , wherein the grip portion has an axis of elongation and satisfies one or both of the criteria: (i) a minimum circumference perpendicular to that axis of 40 mm and (ii) a maximum circumference perpendicular to that axis of 160 mm.
12. A user interface device as claimed in claim 1 , comprising a position sensor configured to sense the position of the trigger relative to the body.
13. A user interface device as claimed in claim 1 , comprising a force sensor configured to sense force applied between the trigger and the body.
14. A robotic manipulator system comprising:
a user interface device as claimed in claim 1 ;
a robot manipulator comprising at least one sensor; and
a control unit configured to control the drive unit to provide force feedback by means of the trigger to a user of the user interface device in dependence on a signal received from the sensor.
15. A robotic manipulator system as claimed in claim 14 , wherein the sensor is a force sensor configured to detect a force applied to a part of an end effector carried by the robot manipulator.
16. A robotic manipulator as claimed in claim 15 , wherein the end effector is an end effector of a surgical instrument carried by the robot manipulator.
17. A robotic manipulator as claimed in claim 14 , wherein the user interface device is as claimed in claim 12 ; and the control unit is configured to control the motion of a part of the robot manipulator in dependence on input received from the sensor or one of the sensors of the user interface device.
18. A robotic manipulator as claimed in claim 17 , wherein the control unit is configured to control the motion of the part of the end effector in dependence on input received from the sensor or one of the sensors of the user interface device.