Control console for surgical device with mechanical arms
A control console for control of a medical surgical device comprising at least one surgical mechanical arm, which control console comprising: a control console base; at least one user support coupled to said control console base; a processor configured to receive data regarding a selected surgical configuration of said at least one surgical mechanical arm and at least one camera; an input arm support coupled to said control console base; at least one input arm comprising a plurality of sections sequentially coupled by joints, coupled to and extending from said input arm support where a direction of extension of said input arm, with respect to said at least one user support is adjustable to match an input arm configuration to said selected surgical configuration, a camera view of said at least one surgical mechanical arm thereby corresponding to a user view of said input arm.
1. An input device for control of a surgical mechanical arm comprising an end-effector at a distal end of the arm, the input device comprising:
a plurality of sections sequentially coupled by input arm joints, where said plurality of sections includes a handle;
at least one sensor configured to measure user controlled movement of said sections;
at least one user interface disposed on said handle whereby an orientation of said user interface moves under friction between a user and the user interface; wherein said user interface is located on said handle such that a user grasping the handle is able to simultaneously touch said user interface and move said handle; and
circuitry configured to:
receive a measurement signal from said sensor and generate a control signal based on said measurement signal for control of movement of said surgical mechanical arm; and
receive a signal from said user interface and generate a user interface control signal for control of an end-effector of said surgical mechanical arm.
2. The input device according to claim 1 , wherein said user interface comprises at least one of: a rotatable dial, a push button, a lever, a switch.
3. The input device according to claim 1 , wherein said user interface is biased to an open position.
4. The input device according to claim 3 , wherein said user interface comprises a lever, and said lever is spring biased to a released position.
5. The input device according to claim 1 , wherein said handle is sized to be held by a user's palm, and wherein said input device comprises a plurality of user interfaces positioned on said handle such that a user is able to simultaneously touch said plurality of user interfaces using at least one finger while grasping said handle with the palm.
6. The input device according to claim 5 , wherein at least one of said plurality of user interfaces is shaped as a loop sized for insertion of a user's finger through.
7. The input device according to claim 1 , wherein an orientation of said user interface is adjustable with respect to said handle.
8. The input device according to claim 1 , wherein said at least one sensor comprises a magnetic sensor configured to measure movement of a magnet which moves with at least one of said sections.
9. The input device according to claim 1 , wherein said plurality of sections includes: a first input arm section, a second input arm section, and a third input arm section, and a fourth input arm section; wherein said handle is coupled to said fourth input arm section.
10. The input device according to claim 9 , wherein:
a first rotational joint couples said first input arm section to an input arm support;
a first flexion joint couples said second input arm section to said first input arm section;
a second rotational joint couples said third input arm section to said second input arm section;
a second flexion joint couples said fourth input arm section to said third input arm section.
11. The input device according to claim 10 , wherein said flexion joints are pivot joints.
12. The input device according to claim 10 , wherein one or both of said flexion joints are bendable by at least 120°.
13. The input device according to claim 10 , wherein one or both of said flexion joints are bendable by at least 180°.
14. A surgical system comprising:
a surgical mechanical arm comprising:
a plurality of sections sequentially coupled by joints;
an end-effector positioned at a distal end of said surgical mechanical arm;
and
an input device according to claim 1 for controlling movement of said surgical mechanical arm and said end-effector.
15. The system according to claim 14 , wherein said user interface comprises a rotatable dial coupled to said handle, said rotatable dial configured to control rotation of said end-effector.
16. The system according to claim 14 , wherein said user interface comprises lever coupled to said handle, said lever configured to be pressed or released to control activation of said end-effector.
17. The system according to claim 16 , wherein said end-effecter comprises a gripper or scissors and wherein said lever is pressed or released to control closing and opening of said end-effector.
18. The system according to claim 14 , wherein said at least one user interface is configured to control one or more of: linear motion of said surgical mechanical arm, actuation of said end-effector, pause-resume control of movement of said surgical mechanical arm.
19. The system according to claim 14 , comprising two input devices and two surgical mechanical arms controlled by said two input devices respectively.
20. The system according to claim 19 , wherein said two input devices are mounted onto a single control console and are spaced apart by a separation sized for a user to control said input devices using two hands.