Master control device with finger grip sensing and methods therefor
Implementations relate to a master control device and methods for using such a control device. In some implementations, a master control device includes a control body including a surface. A force sensor is coupled to the control body, the force sensor configured to sense forces applied to the surface of the control body and provide sensor signals in accordance with amounts of the forces received on sides of the control body caused by a pinching of the control body between fingers of a user. At least one sensor is configured to detect at least one of a position and an orientation of the control body in a working environment of the control body.
1. A control device comprising:
an elongated control body including a continuous surface;
a force sensor coupled to the elongated control body, the force sensor configured to sense force applied to the continuous surface of the elongated control body and provide sensor signals in accordance with amounts of the force received on sides of the elongated control body caused by a pinching of the continuous surface of the elongated control body between fingers of a user; and
a sensor configured to detect at least one of a position or an orientation of the elongated control body in a working environment of the elongated control body.
2. The control device of claim 1 , wherein the control device is a surgical system control device configured to provide control signals to a teleoperated surgical system, wherein the sensor signals are used to control positions of a controlled device.
3. The control device of claim 1 , wherein:
the continuous surface of the elongated control body includes deformable portions that are configured to undergo deformation from the force received on the sides of the elongated control body, and
the force sensor is configured to sense the deformation.
4. The control device of claim 3 , further comprising a fluid provided within a housing of the elongated control body, wherein the force sensor includes a transducer configured to detect the deformation of deformable portions of the continuous surface by detecting a change in fluid pressure in response to the deformation.
5. The control device of claim 3 , further comprising a rib structure provided within an interior of a housing of the elongated control body, wherein the rib structure is more rigid than the deformable portions of the elongated control body.
6. The control device of claim 5 , wherein the rib structure includes ribs provided in a helix centered around a spine shaft that extends along a lengthwise axis of the elongated control body.
7. The control device of claim 5 , further comprising a spine shaft extending along a lengthwise axis of the elongated control body,
wherein:
the spine shaft is more rigid than a structure of the deformable portions of the elongated control body,
one or more ribs of the rib structure have a bend in their cross-sectional length from the spine shaft to a wall of the elongated control body, and
the one or more ribs are configured to buckle in a particular direction in response to the force applied to the continuous surface of the elongated control body meeting a threshold.
8. The control device of claim 3 , further comprising a spine shaft extending along a lengthwise axis of the elongated control body, wherein the spine shaft is more rigid than the deformable portions of the elongated control body.
9. The control device of claim 1 , wherein the force sensor includes one of:
a strain gauge, or
a force-sensing film coupled to the continuous surface of the elongated control body, wherein the force-sensing film receives the force from the fingers of the user.
10. The control device of claim 1 , wherein the force sensor includes one or more force-sensitive elements that are positioned to receive the force applied to the continuous surface of the elongated control body, the one or more force-sensitive elements being rigid and opposing deformation of the one or more force-sensitive elements by the force received on opposite sides of the continuous surface of the elongated control body, wherein the one or more force-sensing elements are operable to sense the force applied without deformation and movement of the opposite sides of the continuous surface.
11. The control device of claim 1 , further comprising an input control coupled to the elongated control body and configured to output a control signal in response to being activated by a finger of the user.
12. The control device of claim 1 , wherein the elongated control body includes a physical feature corresponding to a controller control point, wherein the controller control point corresponds to an instrument control point of a slave instrument controlled by the control device, wherein the instrument control point is an origin pivot point for rotary degrees of freedom of the slave instrument.
13. The control device of claim 1 , wherein the elongated control body is mechanically ungrounded.
14. The control device of claim 1 , wherein the elongated control body is coupled to a mechanically grounded linkage.
15. A control device comprising:
a control body configured to engage fingers of a hand of a user, wherein the control body includes a continuous surface that is deformable at a plurality of deformable portions of the continuous surface;
a force sensor coupled to the control body and configured to sense force applied to the plurality of deformable portions of the continuous surface of the control body from one or more of the fingers of the user, the force causing a deformation of the plurality of deformable portions of the continuous surface, wherein the force sensor is configured to provide sensor signals in accordance with the deformation of the plurality of deformable portions of the continuous surface; and
at least one sensor configured to detect a position or an orientation of the control body in a working environment of the control body.
16. The control device of claim 15 wherein:
the control body is elongated and at least partially cylindrical; and
the force is caused by a pinching of the control body between the fingers.
17. The control device of claim 15 wherein the continuous surface of the control body is spherical.
18. The control device of claim 15 , further comprising a fluid provided within a housing of the control body, and wherein the force is configured to detect a change in pressure in the fluid caused by the deformation of the plurality of deformable portions of the continuous surface.
19. A control system comprising:
a control device comprising:
an elongated control body including a continuous surface configured to engage fingers of a hand of a user;
at least one sensor configured to detect a position or an orientation of the elongated control body in a working environment of the elongated control body; and
a force sensor coupled to the elongated control body, the force sensor configured to sense force applied to the continuous surface of the elongated control body and provide sensor signals in accordance with amounts of the force received on opposite sides of the continuous surface of the elongated control body; and
a controller coupled to a slave surgical device and in communication with the control device, wherein the controller is configured to provide control signals, including one or more signals derived from the sensor signals, to the slave surgical device while a master-slave control relationship is provided between the control device and the slave surgical device.
20. The control system of claim 19 further comprising a fluid provided within a housing of the elongated control body,
wherein:
the continuous surface of the elongated control body includes deformable portions that are configured to undergo deformation from the force received on the opposite sides of the continuous surface of the elongated control body,
the force sensor is configured to sense the deformation by detecting a change in pressure of the fluid in response to the deformation.