Control switch position sensing across rotary joints

Abstract

Embodiments relate to control switch position sensing across rotary joints. In some embodiments, the control input device includes a base member and a roll member rotatable about a central axis relative to the base member in a roll degree of freedom. The switch contact portion is rotatable with the roll member and is movable to a plurality of positions in a switch degree of freedom. The first sensor element is coupled to and movable with the switch contact portion, and may be a passive element. A base sensor element is coupled to the base member and is configured to sense a proximity of the first sensor element to the base sensor element and output a signal indicative of a current position of the switch contact portion in the switch degree of freedom independent of a rotational orientation of the roll member in the roll degree of freedom.

Description

[0001] This application is a divisional application of Chinese patent application 2019800569719, whose filing date is August 21, 2019 and whose name is “Control switch position sensing across a rotary joint”.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This application claims priority to U.S. Provisional Patent Application No. 62 / 721,467, filed on August 22, 2018, entitled “CONTROL SWITCH POSITION SENSING ACROSS A ROTARY JOINT,” the entire contents of which are incorporated herein by reference. Background Art

[0004] A controller mechanism, such as a control input device, allows a user to control the functions of various types of mechanisms and instruments. Teleoperation is an operation that can use a control input device. For example, a remotely operated surgical device can use various types of medical instruments to perform minimally invasive surgical procedures, thereby reducing damage to the patient's healthy tissue. The medical instrument can be connected to a slave device such as a slave arm, which can be manipulated to perform the surgical procedure. Control of the medical instrument at the slave device can be provided to an operator at one or more master control devices, such as an operator at a remote operator terminal or station, and / or using a manual control device. The actuator of the slave device can be controlled by the master control device to cause movement or activate another function of a medical instrument, camera or other end effector at the slave device that interacts with the patient's surgical site. In some examples, the master control device at the operator station can be physically manipulated by the operator in one or more degrees of freedom to control the end effector movement in a manner coordinated with the manipulation of the control device, for example, in a manner corresponding to the degrees of freedom at the surgical site.

[0005] One degree of freedom of the master control device may include a rotational degree of freedom of the handle of the master control device. For example, in some remote control systems, the master control device may include one or more grips that the operator presses and / or rotates to control the corresponding movement of the end effector. For example, a clamp on the master control device may provide a clamping motion that can control a similar clamping motion of a pliers, tweezers, scissors or other end effector instrument on a controlled slave device. Such grips on the master control device may be oriented to be closed along the central axis of the master control device, and they may rotate around the central axis to command, for example, a similar rotational motion of a slave instrument around the instrument axis. However, such rotational motion of the master control device may make it difficult to provide data, power and other signals to the rotating device portion and from the rotating device portion to the base or grounded portion of the master control device. For example, a control switch may be positioned on the rotating portion to allow the user to select various commands and functions during the operation of the control system, and such a control switch may be required to transfer the state to the non-rotating portion of the master control device when allowing the rotating portion to have continuous free and independent rotation. Summary of the invention

[0006] Embodiments of the present application relate to control switch position sensing across a rotary joint. In some embodiments, a control input device includes a base member and a roll member, which is connected to the base member and can rotate relative to the base member with a roll degree of freedom around a central axis. A switch contact portion is connected to the roll member and can rotate with the roll member around the central axis with a roll degree of freedom. The switch contact portion can move to multiple positions with a switch degree of freedom relative to the roll member. A first sensor element is connected to the switch contact portion and can move with the switch contact portion with a switch degree of freedom and a roll degree of freedom, wherein the first sensor element is a passive element configured not to receive an electrical signal. A base sensor element is connected to the base member and is configured to sense the proximity of the first sensor element to the base sensor element, wherein the base sensor element is configured to output a signal indicating the current position of the switch contact portion in the switch degree of freedom regardless of the rotational orientation of the roll member in the roll degree of freedom.

[0007] Various embodiments and examples of a control input device are described. For example, in some embodiments, the first sensor element is a sensor element that is not powered. In some embodiments, the first sensor element is a passive magnet and the base sensor element includes a Hall effect sensor. In some embodiments, the passive magnet is connected to the switch contact portion by an elongated connecting rod member. In some embodiments, the passive magnet is a portion of a ring magnet. In some embodiments, the base sensor element includes one or more photodetectors configured to detect an electromagnetic energy beam reflected from the first sensor element. In some embodiments, the base sensor element includes a sensor array having a plurality of sensors arranged at least partially concentrically around a central axis. In some examples, the base sensor element includes a sensor array having a plurality of Hall effect sensors arranged at least partially concentrically around a central axis. In some embodiments, the signal indicating the current position of the switch contact portion also indicates the rotational orientation of the roll member in the roll degree of freedom.

[0008] Some embodiments further include a second switch contact portion movable in a second switch degree of freedom, wherein the second switch contact portion is coupled to a second sensor element, the second sensor element movable with the second switch contact portion in a second switch degree of freedom and a roll degree of freedom, and the second sensor element is a passive sensor element. In some examples, the first sensor element is a magnet having a first magnetic pole facing the base sensor element, and the second sensor element is a magnet having a second magnetic pole facing the base sensor element, the polarity of the second magnetic pole being opposite to the polarity of the first magnetic pole. Some embodiments further include a gripping member coupled to the roll member and rotatable about a central axis with the roll member, wherein the gripping member is rotatably coupled to the base member via an axis extending through an axial passage formed in the roll member, the first sensor element is coupled to a link member, and the link member extends parallel to the axis and is coupled to the switch contact portion. For example, some embodiments further include an actuator coupled to the shaft and operable to output a linear force on the shaft along a longitudinal axis of the shaft, wherein the linear force causes a gripping force to be applied to the gripping member along a gripping degree of freedom via the shaft and rotationally decouples the shaft from the actuator about the longitudinal axis of the shaft.

[0009] In some embodiments, the control input device includes a base member and a roll member, which is connected to the base member and can rotate with the roll freedom around the central axis relative to the base member. The switch contact portion is connected to the roll member and can rotate with the roll freedom around the central axis. The switch contact portion can move to multiple positions with the switch freedom relative to the roll member. The first sensor element is connected to the switch contact portion and can move with the switch contact portion with the switch freedom and the roll freedom. The base sensor element is connected to the base member and is configured to sense the proximity of the first sensor element to the base sensor element, wherein the base sensor element is concentrically arranged around the central axis, and the base sensor element is configured to output a signal indicating the current position of the switch contact portion in the switch freedom regardless of the rotational orientation of the roll member in the roll freedom.

[0010] Various embodiments and examples of control input devices are described. For example, in some embodiments, the base sensor element includes a plurality of individual sensor elements arranged concentrically about a central axis, and the first sensor element is coupled to a linkage member having a longitudinal axis parallel to the central axis, wherein the plurality of individual sensor elements are concentrically spaced about the central axis. In some embodiments, at least a portion of the first sensor element overlaps with at least one sensor element of the plurality of individual sensor elements along an axis parallel to the central axis at all positions of the first sensor element in the roll degree of freedom.

[0011] In some embodiments, the base sensor element includes a substrate including a hole, wherein a plurality of individual sensor elements are located on the substrate, wherein the control input device further includes a gripping member coupled to the roll member and rotatable with the roll member about a central axis, wherein the gripping member is rotatably coupled to a shaft extending through an axial passage formed in the roll member and extending through the hole in the substrate. In some embodiments, the base sensor element includes a plurality of individual sensor elements, wherein the first sensor element is a passive magnet, and the plurality of individual sensor elements include a plurality of Hall effect sensors. In some embodiments, the first sensor element and the base sensor element include a light emitter and a light detector.

[0012] In some embodiments, a method for sensing a switch of a control input device includes: receiving a user input at the control input device, the user input causing the switch to move to a position in a switch degree of freedom relative to a roll member of the control input device, wherein the roll member is rotatable in a rotational degree of freedom about a central axis relative to a base member coupled to the roll member. The method includes sensing a position of the control switch in the switch degree of freedom, wherein the sensing includes sensing a first sensor element relative to a base sensor element, the first sensor element coupled to the roll member and the base sensor element coupled to the base member, wherein the base sensor element includes a plurality of sensors arranged at least partially concentrically about the central axis. The sensing of the switch includes determining a position of the switch in the switch degree of freedom based on output signals from the plurality of sensors, the output signals indicating proximity of the first sensor element to each of the plurality of sensors.

[0013] In some embodiments, the control input device includes a base member and a roll member, the roll member including a first end, a second end opposite to the first end, and a central axis defined between the first end and the second end. The roll member can rotate around the central axis with a roll degree of freedom. The switch contact portion is connected to the roll member and can rotate around the central axis with the roll degree of freedom together with the roll member, wherein the switch contact portion can move relative to the roll member with a switch degree of freedom. The control input device includes a base sensor element of the distance sensor system, wherein the base sensor element is connected to the base. The control input device includes a first sensor element of the distance sensor system, wherein the first sensor element is connected to the switch contact portion. The first sensor element can rotate around the central axis with the roll degree of freedom together with the roll member, and can move with the switch degree of freedom together with the switch contact portion. The first sensor element is separated from the base sensor element by a variable distance, and the variable distance corresponds to the position of the switch contact portion in the switch degree of freedom. In various embodiments of the control input device, a signal is generated by the base sensor element, the signal including a parameter, wherein the parameter includes a value corresponding to a variable distance corresponding to a position of the switch contact portion in the switch degree of freedom. In some embodiments, the value further corresponds to a position of the roll member about the central axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic diagram of an example implementation of a teleoperated surgical system that may be used with one or more features disclosed herein, according to some implementations;

[0015] Figure 2 According to some embodiments, Figure 1 A front elevation view of an example master control workstation is shown;

[0016] Figure 3is a perspective view of an example portion of a control input device according to some embodiments, which may include one or more features described herein;

[0017] Figure 4 is a perspective view of an example portion of a control input device according to some embodiments, including an example embodiment of a switch mechanism and a sensor for controlling the switch;

[0018] Figure 5 For reference according to some embodiments Figure 4 a perspective view of the described switch mechanism and sensor array;

[0019] Figure 6 According to some embodiments Figure 5 A side view of a sensor array and a portion of a switch mechanism shown in ;

[0020] Figure 7 is a schematic diagram of a graph showing an example waveform illustrating raw signals output by an example sensor array during rotation of a handle according to some embodiments;

[0021] Figure 8 is a schematic diagram showing a graph of example waveforms resulting from processing output signals of an example sensor array at different switch positions according to some embodiments;

[0022] Fig. 9 is a schematic diagram of a graph showing example waveforms based on output signals provided by an example sensor array according to some embodiments;

[0023] Fig.10 is a perspective view of an example embodiment of a portion of a control input device that can provide forces in degrees of freedom of a grip of a handle according to some embodiments;

[0024] Fig.11 is a flow chart illustrating an example method for detecting a position of a control switch on a control input device according to some embodiments; and

[0025] Fig.12 is a block diagram of an example master-slave system that may be used in one or more implementations described herein. DETAILED DESCRIPTION

[0026] One or more embodiments described herein relate to sensing the position of a control switch across a rotary joint of a control input device. In some embodiments, the control input device includes a base member and a roll member that can rotate relative to the base member in a roll degree of freedom about a central axis, thereby forming a rotary joint between the base member and the roll member. A switch contact portion is connected to the roll member, and the roll member can move with it. A first sensor element is connected to the switch contact portion and can be a passive element, for example, it does not receive an electrical signal such as a control signal or power, and can rotate freely with the roll member. A base sensor element is connected to the base member and is configured to sense the proximity of the first sensor element to the base sensor element, and is configured to output one or more signals indicating the current position of the switch contact portion in the switch degree of freedom regardless of the rotational orientation of the roll member in the roll degree of freedom. In addition, the output signal can indicate the rotational orientation of the handle in the roll degree of freedom.

[0027] Various other features are also disclosed. For example, the first sensor element may be a magnet, which may be disc-shaped, partially annular, etc. The base sensor element may include one or more Hall effect sensors to sense the magnetic field of the magnet. For example, the base sensor element may be a sensor array, which includes a plurality of sensors arranged concentrically around a central axis. The first sensor element may be attached to the end of a link member or plunger extending parallel to the central axis, which allows the main axis to be set to coincide with the central axis and clear any components of the switch mechanism in the control input device. For example, such an axis can be used to apply force from an actuator to one or more gripping members of the control input device that are contacted by a user's hand. Other types of sensors may be used, such as light emitters and detectors, and, for example, a reflective or patterned first sensor element that reflects a light beam away from the switch mechanism.

[0028] In some embodiments, the control input device includes a second switch that can move with its own switching degree of freedom. For example, the second switch contact portion can be connected to a second sensor element that can move with the second switch contact portion. The base sensor element can detect the proximity of the second sensor element. In some examples, the base sensor element can simultaneously detect the presence of two sensor elements and the switch position of two switches by distinguishing the detection characteristics of the first sensor element and the second sensor element. For example, the first sensor element and the second sensor element can be magnets with opposite polarities facing the magnetic poles of the base sensor element, thereby allowing the base sensor element to distinguish the magnetic fields of the first sensor element and the second sensor element.

[0029] The features described herein provide several advantages for the control input device. For example, multiple positions of the switch can be detected across the rotary joint of the control input device, such as across the rotation axis of the handle, thereby allowing the handle to rotate continuously relative to the base member. The sensor element of the switch can rotate with the handle, and the proximity of the sensor element can be detected at any rotation position of the handle by a base sensor such as a sensor array. For example, the sensor array can sense the distance of the sensor array of the sensor element orbiting around the central axis during the rotation of the handle. In some embodiments, the use of compact switch elements and base sensor arrays allows the distance of the sensor element to the central axis to be easily scaled. In addition, some embodiments allow multiple switches of the handle to be distinguished and their positions to be detected simultaneously by the base sensor.

[0030] The base sensor remains stationary relative to the handle rotation and can measure the position of the switch independently of the handle rotation position, such as independently of the roll position of the sensor element. For example, the base sensor can be an active circuit, for example, sending signals to other controller components and receiving power. The detectable sensor element of the switch can be implemented using passive components (located on the roll side of the continuous rotary joint), so the sensor element and switch mechanism do not need to pass any signals across the rotary joint, including data and power.

[0031] Such features are advantageous over previous methods that require power and data to be transferred across a rotary joint or a continuous axis of rotation (e.g., using optical transmission or other methods, which can be expensive, difficult to assemble, and involve valuable space in the area along the central axis of the control input device). Embodiments of the described switch mechanisms allow the central axis of the handle to be unoccupied and available for useful drive train components. Embodiments of the switch mechanisms and detection mechanisms described herein are compact, rugged, and inexpensive.

[0032] The terms "center," "parallel," "perpendicular," "aligned," or specific measurements expressed in degrees, Hertz, or other units as used herein do not have to be exact and may include typical engineering tolerances.

[0033] Figure 1 1 is a schematic diagram of an example teleoperated surgical system 100 that can be used with one or more features disclosed herein. Other types of control systems and / or master-slave systems can be used in other embodiments involving the described features. The teleoperated surgical system 100 includes a master control workstation (e.g., a surgeon's console) 102 and a manipulator slave device 104.

[0034] In this example, the master control workstation (eg, surgeon's console) 102 includes a viewer 213 (eg, Figure 2), in which an image of the work site is displayed during an operation using the system 100. For example, an image can be displayed by a display device such as one or more display screens, which depicts the surgical site during a surgical procedure. A support 110 is provided on which a user 112 (e.g., an operator such as a surgeon) can hold two main controllers 210 and 212 (one in each hand) (e.g., Figure 2 102) while resting his or her forearms. The main controllers are located in a workspace 114 disposed inwardly beyond the support 110. When using the workstation 102, the user 112 can sit in a chair in front of the workstation, place his or her eyes in front of the viewer, and hold the main controllers (one in each hand) while resting his or her forearms on the support 110. Figure 2 Describe additional details.

[0035] A slave device 104 is also included in the teleoperation system 100. For example, in this example, the slave device 104 can be a manipulator slave device, or can alternatively be a different type of slave device. During the surgical procedure, the slave device 104 can be placed close to the patient (or simulated patient) to perform the operation, in which position the slave device 104 can remain stationary until the specific surgical procedure or stage of the procedure is completed. The slave device 104 may include one or more manipulator arm assemblies 120. In some examples, one or more arm assemblies 120 may be configured to hold an image capture device, such as an endoscope 122, which can provide a captured image of a portion of the surgical site. In some embodiments, the captured image can be sent to a viewer of the workstation 102 and / or to one or more other displays, for example, a display 124 coupled to the slave device 104. In some examples, each other arm assembly 120 may include a surgical tool 126. Each surgical tool may include a surgical end effector, for example, for treating tissue of a patient. For example, the end effector may include one or more motors or other actuators that operate relevant features of the end effector, such as pitch, yaw, and / or roll of the end effector, opening the jaws or moving the blade of the end effector, output of material (e.g., liquid or other fluid) transmitted through a connecting tube, suction, and / or any of a number of other end effector functions. An example of a surgical manipulator is the da Surgical system instrument manipulator arm.

[0036] In this example, in response to manipulation of the master controllers 210 and 212 by the user 112 at the workstation 102, the arm assembly 120 can be caused to move and articulate the surgical tool 126, for example, so that the user 112 can guide a surgical procedure at an internal surgical site through a minimally invasive surgical hole. For example, one or more actuators coupled to the arm assembly 120 can output forces to move a link or other portion of the arm assembly in a particular degree of freedom in response to a control signal received from the workstation 102. For example, the movement of the arm and end effector in one or more degrees of freedom can correspond to the movement of the master controller handle associated with the user in one or more degrees of freedom. The workstation 102 can be used in a room with the slave device 104 (e.g., an operating room), or can be located farther away than the slave device 102, for example, at a different location from the slave device.

[0037] Certain embodiments of the teleoperation system 100 may provide different modes of operation. In some examples, in a non-control mode (e.g., a safe mode) of the teleoperation system 100, controlled movement of the manipulator slave device 104 is disconnected from the master controller of the workstation 102 in a disconnected configuration, such that movement and other manipulations of the master controller do not cause movement of the manipulator slave device 104. In a control mode (e.g., a follow mode) of the teleoperation system, movement of the manipulator slave device 104 may be controlled by the master controls 210 and 212 of the workstation 102, such that movement and other manipulations of the master controller cause movement of the manipulator slave device 104, such as during a surgical procedure.

[0038] Some embodiments may be or include a teleoperated medical system, such as the da Surgical systems (e.g., or daVinci However, the features disclosed herein may be implemented in a variety of ways, including teleoperated and (if applicable) non-teleoperated (e.g., locally controlled) implementations. The implementation on the surgical system is exemplary only and should not be considered to limit the scope of the features disclosed herein. For example, different types of remote operating systems with slave devices at the work site can utilize the actuation controlled features described herein. Other non-remote operating systems can also use one or more of the described functions, such as various types of control systems and devices, peripheral devices, etc.

[0039] In some implementations, the controlled slave device may be a virtual representation of the device, for example, presented in a graphical simulation provided by a computing device coupled to the teleoperation system 100. For example, a user may manipulate the master controls 210 and 212 of the workstation 102 to control a displayed representation of an end effector in the simulated virtual space, similar to if the end effector were a physical object coupled to a physical slave device.

[0040] In various embodiments, in addition to surgical systems, other types of control systems and computer-assisted teleoperation systems may also be used with one or more of the control and sensing features described herein. The teleoperation system may include various forms of controlled slave devices. For example, submersibles, bomb disposal devices, industrial applications, applications in harsh environments and workplaces (e.g., due to weather, temperature, pressure, radiation or other conditions), general robotic applications, and / or remote control applications (e.g., remotely controlled vehicles or devices that provide a first-person perspective) may utilize teleoperation systems that include sensory transmission from the device (convey visual, auditory, etc. experiences), manipulation of workpieces or other physical tasks, etc., and may use a mechanically grounded and / or ungrounded master controller to remotely control the slave device. Any such teleoperation system and other systems may be used with the various manual controller sensing features described herein.

[0041] Figure 2 As mentioned above, Figure 1 A front elevation view of the example master control workstation 102 is depicted. The master control workstation 102 includes a viewer 213 at which an image of a workplace can be displayed during use of the remote operation system 100. For example, an image depicting a surgical site can be displayed during a surgical procedure. The viewer 213 can be located within a viewing recess 211 in which a user can place his or her head to view the image displayed by the viewer 213. When using the workstation 102, the user 112 can sit in a chair in front of the workstation and place his or her head within the recess 211 so that his or her eyes are located in front of the viewer 213.

[0042] In some embodiments, one or more user presence sensors 214 may be placed at one or more locations of the master control workstation 102 to detect the presence of a user located next to or near the workstation 102. In this example, the user presence sensor 214 may sense the presence of a user's head within the recess 211. For example, an optical sensor may be used for the presence sensor, where the optical sensor includes an emitter 216 and a detector 218. A beam of infrared or other wavelength is emitted from one side of the recess 211 by the emitter 216, and the beam is detected by the detector 218 on the other side of the recess. If the beam is interrupted by the detection of the detector, the system determines that the user's head is within the recess and the user is in a suitable position to use the master controller of the master control workstation 102. Other or alternative types of presence sensors may be used in various embodiments.

[0043] Two master controllers 210 and 212 are provided for user manipulation. In some embodiments, each master controller 210 and 212 can be configured to control motion and enable the associated arm assembly 120 of the slave device 104 to function. For example, the master controller 210 or 212 can move with multiple degrees of freedom, moving the corresponding end effector of the slave device 104 with the corresponding degrees of freedom. The master controllers 210 and 212 are located in the workspace 114 and are disposed inwardly beyond the support 110. For example, the user 112 can rest his or her forearms while holding the two master controllers 210, 212, one controller in each hand. As described above, the user also positions his or her head in the viewing recess 211 to view the viewer 213 while manipulating the master controllers 210 and 212. Various examples of parts of the control input device that can be used as the master controllers 210 and 212 are described below.

[0044] Some embodiments of the workstation 102 may include one or more foot controls 220 located below the main controls 210 and 212. When a user is sitting at the main control workstation 102, the foot controls 220 may be depressed, slid, and / or otherwise manipulated by the user's feet to input various commands into the remote operating system.

[0045] Figure 3 300 is a perspective view of an example controller portion 300 for controlling an input device, which may include one or more features described herein. In some embodiments, the controller portion 300 can be used as part of an input control device, such as the one described above with reference to FIG. Figure 1 and Figure 2 The main controller 210 or 212, or the portion 300 may be included in different control devices. In some embodiments, the controller portion 300 includes one or more gimbal mechanisms.

[0046] Controller portion 300 includes a handle 302 that is contacted by a user to manipulate a control input device. In this example, handle 302 includes two grips, each of which includes a finger ring 304 and a grip member 306 (grip members 306a and 306b). Two grip members 306 are located on opposite sides of a central portion 303 of handle 302, where grip members 306 can be held, held or otherwise contacted by a user's finger. Each finger ring 304 is attached to a corresponding grip member 306 and can be used to fix a user's finger to an associated grip member 306. In this example, a finger contact 305 can be connected or formed at the unconnected end of grip members 306a and 306b to provide a surface for contacting a user's finger. The user can also contact other parts of handle 302 while holding grip members 306.

[0047] Each gripping member 306 and finger ring 304 can move with associated degrees of freedom 308 (e.g., 308a and 308b). In some examples, gripping members 306a and 306b are each coupled to the central portion 303 of the handle 302 with a corresponding rotational coupling, thereby allowing the gripping members to rotate relative to the central portion 303 around gripping axes 307a and 307b, respectively. Each gripping member 306a and 306b can move around axis 307a and axis 307b with associated degrees of freedom 308a and degrees of freedom 308b, respectively, by contacting the gripping members by a user. For example, in some embodiments, gripping members 306a and 306b can move simultaneously (e.g., toward or away from each other) in a clamp-like motion. In various embodiments, a single gripping member 306 and finger ring 304 can be provided, or only one gripping member 306 can move with degrees of freedom 308 while another gripping member 306 can be fixed with respect to the handle 302. For example, the position of the gripping members 306a and 306b in their degrees of freedom may control the corresponding rotational position of the end effector or a component thereof.

[0048] One or more sensors (not shown) can be coupled to the handle 302 and / or other components of the controller portion 300 and can detect the position of the gripping members 306a and 306b in their degrees of freedom 308. The sensors can send signals describing the sensed position and / or motion to one or more control circuits of the teleoperation system 100. In some modes or embodiments, the control circuits can provide control signals to a slave device, such as the slave device 104. For example, the position of the gripping members 306a and 306b in the degrees of freedom 308a and 308b can be used to control any of the various degrees of freedom of the end effector of the slave device 104, some examples of which are described herein.

[0049] Various embodiments of the controller 300 may provide one or more active actuators (e.g., motors, voice coils, etc.) to output active forces on the gripping member 306 in the degree of freedom 308. For example, the sensor and / or actuator may be housed in the central portion 303 or in the housing 309 and coupled to the gripping member 306 via a transmission. Some embodiments may provide one or more passive actuators (e.g., brakes) or springs between the gripping member 306 and the central portion 303 of the handle 302 to provide resistance to movement in a particular direction of the grip (e.g., in directions toward each other in the degree of freedom 308). Fig.11 Some examples of actuators and transmissions are described.

[0050] The handle 302 further has a rotational degree of freedom 310 about a roll axis 312 defined between a first end and a second end of the handle 302. In this example, the roll axis 312 is a longitudinal axis that extends generally along the center of the central portion 303 of the handle 302. The handle 302 can be rotated about the axis 312 relative to a base member (such as the housing 309) of the controller portion 300, thereby forming a rotational joint between the handle 302 and the base member. For example, a user can rotate the grip member 306 and the central portion 303 as a single unit about the axis 312 relative to the housing 309 to provide control of a slave device (such as an end effector of the slave device 104 or other element of the slave device).

[0051] One or more sensors (not shown) may be coupled to the handle 302 to detect the rotation and / or position of the handle 302 in the rotational degrees of freedom 310. For example, the sensor may send a signal describing the position to control circuitry of the teleoperation system 100, which may provide control signals to the slave device 104 similarly as described above. For example, the rotation of the handle 302 in the degrees of freedom 310 may control a particular degree of freedom of the end effector of the slave device that is different from the slave degrees of freedom controlled by the degrees of freedom 308 of the gripping member 306.

[0052] Some embodiments of the controller portion 300 may provide one or more actuators to output forces on the handle 302 (including the grip member 306 and the finger ring 304) in the rotational degree of freedom 310. For example, the sensor and / or actuator may be housed in a housing 309 and coupled to the handle 302 via a shaft extending through a central portion 303 of the handle 302.

[0053] In various embodiments, the handle 302 can have additional degrees of freedom. For example, a rotational degree of freedom 320 about a yaw axis 322 can be provided to the handle 302 at a rotational coupling between an elbow link 324 and a link 326, where the elbow link 324 is coupled to the handle 302 (e.g., at the housing 309). In this example, the yaw axis 322 intersects and is orthogonal to the roll axis 312. For example, the yaw axis 322 can be similar to Figure 2 The axis 232 shown. Additional degrees of freedom may be similarly provided. For example, the link 326 may be elbow-shaped, and a rotational coupling may be provided between the other end of the link 326 and another link (not shown). A rotational degree of freedom 328 about the axis 330 may be provided to the handle 302 at the rotational coupling. For example, the axis 330 may be similar to Figure 2 The controller portion 300 may allow the handle 302 to move within the workspace 114 of the master control workstation 102 with multiple degrees of freedom, such as six degrees of freedom, including three rotational degrees of freedom and three translational degrees of freedom. One or more additional degrees of freedom may be sensed and / or actuated similarly to those described above for degrees of freedom 308 and 310. In some embodiments, each additional degree of freedom of the handle 302 may control a different slave degree of freedom (or other motion) of the end effector of the slave device 104.

[0054] In the depicted example, the handle 302 includes one or more control switches 350, for example, which are coupled to the central portion 303 or a mechanism within the central portion 303. For example, two control switches 350 can be positioned on opposite sides of the axis 312, and / or additional control switches can be provided. In some examples, the control switch 350 has a portion that can slide parallel to the axis 312 (e.g., guided by a user's finger), or the control switch portion can be pressed. In some embodiments, the control switch 350 can be moved to various positions to provide specific command signals, such as to select a function, option, or mode of the console and / or master controller (e.g., a control mode or a non-control mode as described herein, to command a slave device or other system that communicates with the master controller, etc.

[0055] In some embodiments, one or more control switches 350 can be implemented as a button (e.g., pressed in a direction such as perpendicular to axis 312 or other direction), a rotary dial, a switch that moves perpendicular to axis 312, or other type of input control.

[0056] In some example embodiments, the control switch 350 is a contact portion of a switch mechanism that moves based on the manipulation of the user and is sensed by a switch sensor. For example, the switch sensor can be coupled to a plate 340, wherein the plate 340 is rigidly coupled to the housing 309 and is stationary relative to the rotation of the handle 302 around the axis 312. When the user activates the switch 350, for example, by sliding parallel to the axis 312 by the user, the switch element is moved into a range sensed by the sensor. Example mechanisms and switch operations will be described in more detail below. Other types of sensors, such as optical sensors, mechanical switches, etc., may be used alternatively.

[0057] One or more features described herein can be used with other types of main controllers. For example, an ungrounded main controller can be used, which can be freely moved in space and disconnected from the ground. In some examples, one or more handles similar to handle 302 and / or gripping member 306 can be connected to a mechanism worn on the user's hand and not grounded, thereby allowing the user to freely move the grip in space. In some examples, the position of the grip relative to each other and / or relative to the other parts of the handle can be sensed by a mechanism that couples the grip together and limits its relative movement to each other. Some embodiments can use a glove structure worn by the user's hand. In addition, some embodiments can use sensors connected to other structures to sense the grip in space, for example, using a camera or other sensors that can detect motion in 3D space. Some examples of ungrounded main controllers are described in U.S. Patent Nos. US 8,543,240B2 (submitted on September 21, 2010) and US 8,521,331 B2 (submitted on November 13, 2008), both of which are incorporated herein by reference as a whole.

[0058] Figure 4 4 is a partial perspective cross-sectional view of an example embodiment of a controller portion 400 for controlling an input device, which includes an example embodiment of a sensor system for controlling a switch. In some embodiments, the controller portion 400 can be implemented as described above with reference to Figure 3 The control portion 300 described above may alternatively be included in a different input control device.

[0059] The controller portion 400 includes a controller similar to that for Figure 3The handle 402 (shown in cross-section) and base member of the handle 302 are shown. The handle 402 includes a first end, a second end opposite the first end, and a central axis 412 defined between the first end and the second end. The handle 402 (e.g., a roll member) can rotate about the central axis 412 with a roll degree of freedom 413 relative to the base member including the housing 409, thereby forming a rotational joint between the handle 402 and the base member. For example, in some embodiments, the handle 402 may include a rotational joint with the base member. Figure 3 The gripping member 306 is similar to the gripping member 406 (in Figure 4 Only one gripping member 406 is shown in the figure. In some embodiments, an actuator (e.g., a motor) can be used to drive the handle 402 to rotate about the central axis 412, some examples of which are described below. One or more sensors can be coupled to the controller portion 400 and detect the roll (rotation) orientation of the handle 402 about the axis 412. The sensor can send a signal describing the sensed position, orientation, and / or movement to the control circuit of the remote operation system 100. In some modes or embodiments, the control circuit can provide a control signal to the slave device 104.

[0060] In some embodiments, the handle 402 can include a spindle 404 that is connected to and drives the gripping member 406. In some embodiments, the spindle 404 can be translated along the axis 412 by an actuator (e.g., a motor) to induce forces in the degrees of freedom of the gripping member 406. Some examples of actuators and transmissions that drive the shaft are described below. In some embodiments, similar to that for the roll sensor, one or more sensors can be coupled to the shaft 404 or the actuator to detect the linear movement of the shaft 404 and provide the sensor signal to the control circuit.

[0061] In some embodiments, the controller portion includes at least a portion of a distance sensor system that can be used to detect a switch position of a control switch. The distance sensor system can include a base sensor element and a first sensor element, examples of which are described herein. For example, the first sensor element can be included in a switch mechanism and / or coupled to a switch contact portion. The signal generated by the base sensor element can include a parameter, and the parameter can include a value corresponding to a variable distance. The variable distance corresponds to a position of the switch contact portion in the switch degree of freedom. In some embodiments, the value further corresponds to a rotational orientation of the roll member around a central axis.

[0062] In the depicted embodiment, the handle 402 includes a switch mechanism 420 coupled to a central portion 403 of the handle 402. In some examples, the switch mechanism 420 can be used to Figure 3The control switch 350 of the controller portion 400 is shown in FIG. 4. The switch mechanism 420 includes a switch contact portion 422 that is configured to translate or slide in two directions with a switching degree of freedom along a linear axis parallel to the longitudinal axis 412. For example, the switch contact portion 422 can contact the central portion 403 of the controller portion 400 and can translate relative to the central portion 403. The switch contact portion 422 is configured to be engaged by a finger of a user's operating hand and to move with a switching degree of freedom.

[0063] In some embodiments, the switch contact portion 422 can be moved to any of a plurality of positions with a switch degree of freedom. In some example embodiments, the switch contact portion 422 can move within a range of about 5 millimeters in its linear degree of freedom, or can move within other ranges in other embodiments. In various examples, two switch positions, three switch positions, or additional switch positions are provided. In some embodiments, a mechanical detent can be provided in a groove or other path of the switch contact portion 422 (or plunger 424) to mechanically constrain the switch contact portion to a specific switch position, and / or to provide tactile feedback to a user's finger contacting the switch contact portion 422 to indicate a specific switch position.

[0064] The switch sensing extension is coupled to the switch contact portion 422. In this example, the extension is an elongated linkage member, such as a plunger 424. The plunger 424 has a longitudinal axis that extends from the switch contact portion 422 toward and / or through the plate 432 parallel to the longitudinal axis 412, such as extending away from the central portion 403 and the gripping member 406. A switch sensor element 426 is coupled to the plunger 424. In the described embodiment, the sensor element 426 is a passive sensing element, such as a magnet, but in other embodiments, the sensor element 426 can be other types of sensor elements. The plunger 424 and element 426 move linearly parallel to the axis 412 corresponding to the movement of the switch contact portion 422.

[0065] In this example, the element 426 has a planar surface opposite the switch contact portion 422 of the switch mechanism 420. In some embodiments, the element 426 may have an area or dimension extending perpendicular to the longitudinal axis 412 that is larger than its longitudinal dimension. Figure 5 and Figure 6 Other examples of element 426 are described.

[0066] In some embodiments, element 426 is disk-shaped, or alternatively rectangular or of a different shape. In some embodiments, element 426 can be a neodymium magnet having a magnetic field strength that allows element 426 to be spaced apart from a sensor array (described below) while allowing sensors of the sensor array to sense the magnet. Other types of magnets can be used in other embodiments.

[0067] The base sensor element is coupled to a base member of the controller (e.g., housing 409 or a link attached thereto) and is configured to sense sensor element 426. In this example, the base sensor element is a sensor array 428. The sensor array 428 is coupled to housing 409 of the controller portion 400. In this example, a member or substrate 434 is coupled to the base member and provides a surface perpendicular to the longitudinal axis 412, wherein the surface extends radially around the longitudinal axis 412. In some examples, a center hole 436 is provided in the center of the base member 434 and the sensor array 428 to allow the spindle 404 to extend through the base member 434 and the sensor array 428.

[0068] In the described embodiment, a plurality of sensor array elements 430 of the sensor array 428 are arranged on a surface of a substrate 434 (or parallel to a surface of a member 434), wherein the sensor array elements 430 may be arranged radially about a longitudinal axis 412. Thus, the sensor array elements are coupled to the housing 409 and do not rotate with the handle 402 and the switch mechanism 420 about the axis 412, e.g., remain stationary relative to the rotation of the handle. One or more sensor array elements 430 may sense the proximity (e.g., presence) of a sensor element 426. For example, the array element 430 may detect the sensor element 426 based on a current linear position of the element 426 along an axis parallel to the axis 412 and based on a current rotational position of the element 426 about the axis 412.

[0069] The sensor array outputs one or more signals indicating the position of the switch mechanism 420 (including the switch contact portion 422) in its switch degrees of freedom. For example, each sensor array element 430 may generate a sensor signal (e.g., a voltage signal) indicating the proximity of the sensor element 426, which may be used to determine the distance between the element 426 and the sensor array element as described herein. The sensor signal may be sent to a control system, for example, via wires in the housing 409 or wirelessly in some embodiments.

[0070] For example, if element 426 is a magnet, each sensor array element 430 can sense the magnetic strength of magnet 426 at a different distance from the magnet to the sensor array element 430 (when magnet 426 is within the sensing range of the sensor array element), so sensor array 428 can linearly sense the distance of magnet 426 along an axis parallel to axis 412. The sensed distance of magnet 426 to sensor array 428 can be used to determine the switch position of switch mechanism 420 in its linear degree of freedom.

[0071] As handle 402 rotates about axis 412 in a rotational degree of freedom 413 of handle 402, switch mechanism 420, including switch contact portion 422, plunger 424, and sensor element 426, rotates about axis 412. Element 426 rotates relative to sensor array element 430 coupled to housing 409. If switch contact portion 422 and element 426 are maintained in a constant linear (switch) position along axis 412, element 426 passes the same distance within each sensor array element 430 as element 426 rotates throughout the roll degree of freedom.

[0072] In this example, eleven sensor array elements 430 are positioned substantially regularly about longitudinal axis 412 such that sensor element 426 is always sensed by at least one sensor array element 430 regardless of the position of element 426 relative to sensor array element 430 about axis 412. For example, sensor element 426 may be continuously sensed by at least one sensor array element 430 regardless of the rotational orientation of handle 402 in the roll degree of freedom.

[0073] In some embodiments, the sensor array 428 can be provided with a certain number of array elements 430 to allow multiple array elements 430 to sense the sensor element 426. For example, such redundant detection by multiple array elements 430 can be used to perform error checking to detect whether any of those array elements are faulty. In addition, multiple array elements can allow axial travel (along the axis 412) of the sensor element 426 to be distinguished from rotation of the sensor element about the axis 412, because both of these movements may reduce the detection strength of the array element 430 (e.g., an increased air gap between the magnetic sensor element 426 and the Hall effect sensor 430). In general, the sensor array 428 can include a density of array elements 430 to allow errors between the array elements 130 to be checked and to distinguish such axial movement from rotational movement.

[0074] In this example, up to three array elements 430 can sense sensor element 426 simultaneously (e.g., due to the size of the magnetic field of magnetic sensor element 426). In some examples, each sensor array element 430 can have a radial length of approximately 25 degrees, or alternatively, can have other dimensions. Other numbers of sensor array elements can be used, as well as different radial lengths of array elements, sensing areas, etc. In some embodiments, an odd number of evenly spaced sensor array elements 430 can increase the sensitivity of sensing radial rotation of handle 402.

[0075] In the described embodiment, the sensor array element 430 can be a Hall effect sensor. Such a sensor can sense the distance between the sensor and the magnetic element 426. Even if these elements do not directly overlap in a dimension parallel to the axis 412, each Hall effect element 430 can detect the magnet 426 because the magnetic field from the magnet 426 extends farther than the magnet itself. Each sensor array element 430 can generate a sensor signal (e.g., a voltage signal) indicating the strength of the magnetic field strength sensed from the magnet 426, and can be used to determine the distance between the element 426 and the sensor array element. As described below, in other embodiments, other types of sensors can be used.

[0076] In some embodiments, the sensor array 428 can be disposed on a substrate 434 that is a printed circuit board (PCB). For example, for a sensor array 428 having Hall effect sensors, the PCB can include a ferrite steel backing that shields the Hall effect sensors and shunts the flux at the surface of the sensor array element 430 facing the sensor element 426 (and facing the sensor element 446 described below) to make it stronger.

[0077] The use of multiple sensor array elements 430 arranged about axis 412 also allows for sensing of the rotational position of switch mechanism 420 about central axis 412. For example, at least two sensor array elements (e.g., about three in some embodiments) of sensor array elements 430 may sense the presence of element 426 at any time, thereby allowing the approximate radial position of element 426 to be determined as described in more detail below.

[0078] When using magnetic element 426, sensor array 428 can distinguish movement of element 426 between two sensor array elements 430 from movement of element 426 from a point closer to sensor array 428 to a point farther from the sensor array in a direction parallel to axis 412. Both of these movements will cause a decrease in the magnetic intensity sensed by sensor array 428. A sufficient number of sensor array elements 430 arranged radially about axis 412 allows element 426 to always be sensed by at least two sensors of array 428 at any time, thereby allowing radial movement of element 426 to be distinguished from linear movement.

[0079] The sensor array 428 can be connected to a power line and / or a control signal line that is routed to a power source (not shown) and a control circuit or other component of the controller portion 400. Since the sensor array 428 does not rotate with the handle 402, it can be connected to the housing 409 of the controller portion 400 that is stationary relative to the rotation of the handle 402. In contrast, the element 426 rotates with the handle 402 and does not receive or send any electrical signal (e.g., data and / or power signal) related to sensing. For example, the element 426 can be a sensor element that is not powered. In some examples, the element 426 can be a passive sensor element that does not receive or require a power and data signal connection that may otherwise constrain or limit the rotation of the handle 402, and / or may otherwise require the use of additional routing and communication components (e.g., wiring harness, optical communication of signals, etc.) in the controller portion 400.

[0080] In some embodiments, a second switch mechanism 440 is disposed in the handle 402, which includes a second switch contact portion 442, a second plunger 444, and a second sensor element 446. In the described embodiment, the second switch mechanism 440 is located on the side of the handle 402 opposite to the switch mechanism 420. Similar to the switch mechanism 420, the switch contact portion 442 is configured to slide in two directions in the second switch degree of freedom along a linear axis parallel to the longitudinal axis 412 of the controller portion 400. In some embodiments, the switch contact portion 440 can be moved to any one of a plurality of positions in the second switch degree of freedom. For example, the second switch contact portion 440 can contact the central portion 403 of the controller portion 400 and can translate relative to the central portion 403.

[0081] The second switch sensing extension is coupled to the second switch contact portion 442, such as a second elongated linkage member, such as a second plunger 444. The second plunger 444 extends from the second switch contact portion 442 toward and / or through the plate 432 parallel to the longitudinal axis 412. A second sensor element 446 (e.g., a switch sensor element 446) is coupled to the second plunger 444. In some examples, the sensor element 446 can be a magnet similar to that described for the element 426. The second plunger 444 and the second element 446 move linearly parallel to the axis 412 corresponding to the movement of the second switch contact portion 442.

[0082] In this example, sensor element 446 may have a shape, surface, and orientation similar to sensor element 426. Sensor element 446 faces sensor array 428 similar to sensor element 426, except for the location on the opposite side of longitudinal axis 412. In an example similar to element 426, one or more sensor array elements 430 of sensor array 428 may sense the proximity (e.g., presence) of sensor element 446. For example, when each sensor element 430 is located within a specific sensing distance range of sensor element 446, each sensor element 430 may sense the distance of sensor element 446 to the corresponding sensor array element.

[0083] In some implementations, by distinguishing the presence of a first sensor element from a second sensor element, the sensor array 428 can simultaneously detect the proximity (e.g., presence) of two switch mechanisms 426 and 446. For example, the first sensor element 426 can provide a different detectable characteristic than the second sensor element 446. In some examples, the different characteristic can be a physical characteristic, such as a different magnetic field, electric field, physical shape, color, surface angle (for reflection of a light beam), or other characteristic.

[0084] For example, sensor elements 426 and 446 may be magnetic. Sensor element 446 may be positioned so that it faces sensor array 428 with a magnetic pole opposite to the magnetic pole of element 426 facing sensor array 428. This allows sensor array 428 to sense a different corresponding magnetic field from each magnet 426 and 446, and allows the output of sensor array 428 to simultaneously indicate the independent position and movement of each of sensor elements 426 and 446.

[0085] When the handle 402 is rotated about the axis 412 in the rotational degree of freedom 413 of the handle 402, the second switch contact portion 442, the second plunger 444, and the second sensor element 446 rotate about the axis 412. The sensor element 446 rotates relative to the sensor array element 430 coupled to the housing 409. If the switch contact portion 442 and the sensor element 446 are maintained at a constant linear position along the axis 412, the sensor element 446 passes the same distance within each sensor array element 430 when the sensor element 446 rotates within its circular degree of freedom. In the case where the plurality of sensor array elements 430 are positioned substantially regularly about the longitudinal axis 412, at least one sensor array element 430 of the sensor array 428 continuously senses both the first element 426 and the second element 446 regardless of the position of the element 426 and the element 446 relative to the sensor array element 430 about the axis 412. For example, two or more sensor array elements 430 may continuously sense the two sensor elements 426 and 446 regardless of the rotational orientation of the handle 402 in the roll degree of freedom. Similar to that described for element 426, in this example, sensor element 446 is passive, for example, does not receive or send any electrical signals (eg, data and power signals) related to sensing. For example, element 446 does not require power and data signal connections.

[0086] In this example, the switch mechanisms 420 and 440 and the sensor array 428 are configured to be able to sense the position of the switch mechanisms in their switch degrees of freedom using components arranged about the main shaft 404 without interfering with the shaft 404. The switch mechanisms 420 and 440 include plungers 424 and 444 extending parallel to the shaft 404 and the axis 412, thereby allowing the sensor elements 426 and 446 to move near the sensor array 428 that is not coupled to the rotating handle 402. Such an arrangement allows the main shaft 404 to be driven by an actuator along the axis 412 to apply a force to the grip member 406 without being interfered with by the components used to sense the position of the switch mechanisms 420 and 440.

[0087] Figure 5 For reference Figure 44 and 4. A perspective view of switch mechanisms 420 and 440 and sensor array 428 is depicted, while other components of controller portion 400 are omitted. First switch mechanism 420 includes first switch contact portion 422, first plunger 424, and first sensor element 426. Second switch mechanism 440 includes second switch contact portion 442, second plunger 444, and second sensing element 446. Sensor array 428 includes sensor array elements 430 arranged on substrate 434 (e.g., printed circuit board) around longitudinal axis 412 of controller portion 400. Switch contact portion 422 is located at a first position in its switch freedom, wherein sensor element 426 is located at the first position, and switch contact portion 442 is located at a second position in its switch freedom, wherein sensing element 446 is located at the second position. In this example, the first position is closer to sensing array 428 than the second position. In some embodiments, one or more sensing array elements 430 can distinguish between these positions based on the strength of the sensed magnetic field from sensor elements 426 and 446.

[0088] Figure 6 4 is a side view of a portion of sensor array 428 and switch mechanisms 420 and 440. In this view, which shows a perspective view parallel to axis 412, sensing elements (e.g., magnets) 426 and 446 of switch mechanisms 420 and 440 are shown. When handle 402 rotates about axis 412, elements 426 and 446 rotate together about axis 412. Sensor array element 430 remains stationary relative to the rotation of elements 426 and 446.

[0089] Each sensor array element 430 can most strongly sense the magnetic field of element 426 or 446 when element 426 or 446 overlaps the largest area of ​​that sensor array element 430 in the dimension of central axis 412. Figure 6 In the example, when Figure 6 This occurs when the center of first element 426 in the perspective view is radially aligned with the center of sensor array element 430, such as when a line perpendicular to axis 412 and intersecting axis 412 also intersects both centers.

[0090] exist Figure 6In the example view of FIG. 4 , the first sensor element 426 is shown as partially overlapping the two sensor array elements 430a and 430b in the dimension of the longitudinal axis 412. This allows both the sensor array elements 430a and 430b to sense the first element 426, for example, to sense the magnetic field of the magnetic first element 426. In this example, the degree to which the sensor array element 430a is overlapped by the first element 426 is greater than the degree to which the sensor array element 430b is overlapped by the first element 426, so that the magnetic field sensed by the sensor array element 430a from the first element 426 is stronger than the magnetic field sensed by the sensor array element 430b.

[0091] From the position shown, if the first element 426 is rotated in a particular direction about the axis 412, the sensor array element 430 will sense the magnetic field of the first element 426 more strongly in the direction of rotation as the first element 426 overlaps more of the sensor array element. As the first element 426 moves away from the sensor array element and eventually no longer overlaps the sensor array element, the sensor array element will sense the magnetic field more weakly in the direction opposite to the rotation. For example, if the first element 426 is rotated from Figure 6 Rotating the illustrated position in a clockwise direction, the overlap of first element 426 with sensor array element 430a will decrease and the overlap with sensor array element 430b will increase.

[0092] In some embodiments, sensor array 428 and sensor elements 426 and 446 are configured such that at least a portion of at least one sensor array element 430 overlaps with first element 426. Additionally, at least a portion of at least one other sensor array element 430 overlaps with second element 446 when two switch mechanisms are used as shown.

[0093] In some embodiments, elements 426 and 446 have magnetic poles facing sensor array 428 that are opposite in polarity to each other. For example, if first element 426 has a north pole facing sensor array 428, second element 446 has a south pole facing sensor array 428, and vice versa. The magnetic field from each type of magnetic pole produces a different output signal from sensor array element 430. This allows sensor array 420 to differentiate between sensing of first switching mechanism 420 and second switching mechanism 440.

[0094] exist Figure 6In the example of , sensor elements 426 and 446 do not completely overlap sensor array element 430. For example, center 602 of element 426 and center 604 of element 446 are at different distances (e.g., radius) from axis 412 than center 606 of sensor array element 430. This configuration can be implemented based on physical constraints in controller portion 400, for example, where the size of a package or housing housing the switch mechanism can prevent centers 602, 604, and 606 from being at the same radius. In some embodiments, the centers of elements 426 and 446 can be provided at the same radius as the center of sensor array element 430, for example, to enable sensing of elements 426 and 446 over a larger area of ​​sensor array element 430.

[0095] In some embodiments, the sensor array elements 430 can have different sizes, sensing areas, and / or radial lengths than those described above. For example, each sensor array element 430 can cover a larger or smaller angular range around the central axis 412, for example, to allow more or fewer sensor array elements 430 to be regularly spaced around the central axis. In some embodiments, one or more sensor array elements 430 can have a different radial length than other sensor array elements 430.

[0096] In some embodiments, additional switch mechanisms may be provided. For example, a third switch mechanism may be implemented similar to switch mechanisms 420 and 440. In some examples, a third sensing element may be provided similar to sensing elements 426 and 446, where, for example, the three sensing elements are angularly approximately equidistant from each other about axis 412. Similarly, a fourth switch mechanism may be provided such that the four sensing elements are spaced apart, for example, at 90 degree intervals about axis 412.

[0097] In some embodiments, longer or smaller sensor elements 426 and / or 446 may be used. For example, sensor elements 426 and / or 446 extending over a larger angular range may be used. In some examples, a portion of an annular magnet is used instead of each smaller element 426 and 446, for example, elements 426 and 446 may each be a portion of an annular magnet. In some examples, a sensor element 426 extending over approximately 180 degrees and a sensor element 446 extending over approximately 180 degrees may be used, so that each plunger 424 and 444 is coupled to an approximately semicircular magnet.

[0098] For example, Figure 6As shown, instead of element 426, a semi-annular magnet 610 (shown in phantom) can be coupled to the end of plunger 424, and instead of element 446, a semi-annular magnet 612 (shown in phantom) can be coupled to the end of plunger 444. Due to the larger area of ​​semi-annular magnets 610 and 612, each semi-annular magnet is larger than elements 426 and 446 (in phantom). Figure 6 4 and 5. In order to cover a greater angular range (in the view of FIG. 4 ), fewer sensor array elements 430 may be employed in the sensor array 428. For example, three or four of the array elements 430 shown may be regularly spaced about the axis 412, thereby allowing a corresponding sensor array element 430 to always be at least partially overlapped by each semi-annular magnet 610 and 612. This allows the sensor array 428 to sense the magnets 610 and 612 at any angular position of the switch mechanism about the axis 412.

[0099] Figure 7 is a schematic diagram of a graph 700 showing an example waveform showing the rotation of the handle 402 by Figure 4 Graph 700 is a graph of an example of a raw signal output by sensor array 428 of controller portion 400. In this example, sensor array element 430 may be a Hall effect sensor that outputs a signal based on the position of sensor elements such as element 426 and element 446 relative to sensor array element 430. Other embodiments may use different types of sensors and waveforms. Graph 700 has a vertical dimension indicating a voltage scale, such as the voltage of the output signal of the sensor array. Graph 700 has a horizontal dimension indicating the roll angle about axis 412.

[0100] A plurality of waveforms 702 are shown in the graph 700, which indicate respective raw output signals of respective sensor array elements 430 of the sensor array 428. For example, the waveform 702a may be based on the output from the first sensor array element 430, the waveform 702b may be based on the output from the second sensor array element 430 adjacent to the first sensor array element, and so on. The waveforms 702 may be generated during rotation of the handle 402 throughout the rotational range of the handle 402. For example, the handle 402 is rotated 360 degrees about the axis 412 in one direction, so that the sensor elements 426 and 446 are rotated 360 degrees, while the switch mechanisms 420 and 440 are in a single position in the switch degree of freedom (e.g., the distance between the sensor elements 426 and 446 and the sensor array 428 is constant). In this example, the switch mechanism 420 is in a middle position (e.g., a nominal position) of its switch degree of freedom, while the switch mechanism 440 is in a retracted position (e.g., a pulled position) that is further from the sensor array 428 than the position of the switch mechanism 420.

[0101] Waveform 702 has an amplitude (eg, indicative of a voltage) based on the position of sensor elements 426 and / or 446 relative to sensor array 428. For example, the amplitude of waveform 702 may be based on the position of elements 426 and / or 446 along a direction parallel to Figure 4 The distance from the linear axis of the center axis 412 to the sensor array 428.

[0102] In the described example, the sensor array element 430 (e.g., a Hall effect sensor) outputs a positive voltage when sensing a particular first polarity of a magnetic field, and outputs a negative voltage when sensing a second polarity of a magnetic field opposite to the first polarity. In this example, sensing the north pole of a magnet causes the sensor array element 430 to output a positive voltage, while sensing the south pole causes a negative voltage to be output. Other sensors may output different voltages in response to sensing a particular magnetic field polarity.

[0103] Each waveform 702 has a maximum voltage and a minimum voltage. The maximum voltage of a waveform occurs when the magnetic pole facing the sensor array is the first magnetic pole and the magnet has the largest amount of overlap with the sensor array element outputting the waveform. In one example, the north pole of sensor element 426 faces sensor array 428, and the maximum voltage is output by the sensor array element when element 426 has the largest amount of overlap with the sensor array element.

[0104] The minimum voltage of the waveform occurs when the magnetic pole facing the sensor array is a second magnetic pole having a polarity opposite to the first magnetic pole and the magnet has the largest amount of overlap with the sensor array element outputting the waveform. In one example, the south pole of element 446 faces the sensor array and the minimum voltage is output by sensor array element 430 when element 446 has the largest amount of overlap with the sensor array element. In this example, the minimum voltage is the (negative) peak value of the voltage sensed by sensor array element 430 for the second polarity.

[0105] In some embodiments, for example, due to changes in sensing conditions and sensor array elements, such as Figure 7 The waveform 702 shown may have varying maximum and minimum amplitudes.

[0106] Figure 8 Schematic diagram of a graph 800 showing an example waveform resulting from processing output signals at different switch positions by an example sensor array 428. The graph 800 has a vertical dimension indicating a field strength scale (e.g., in Gauss), which corresponds to a voltage output amplitude. In this example, the horizontal dimension indicates the rotational angular range of the switch mechanism around the axis 412, where the handle 402 has been rotated 360 degrees.

[0107] Graph 800 shows the result of applying a maximum filter on the output of sensor array element 430 that has sensed sensor element 426 as switch mechanism 420 (and element 426) rotates about axis 412. For example, a maximum filter is applied to a position similar to Figure 7 The waveform shown (with Figure 7 The waveform may have a more constant amplitude than the waveform of FIG. 802 . The result is the maximum value output by all sensor array elements 430 of sensor array 428 .

[0108] Waveform 802 shows the maximum filter applied to the waveform output by sensor array element 430 when switch mechanism 420 is rotated and located in the switch degree of freedom at a close distance from sensor array 428 (e.g., in the pushed position). Waveform 802 consists of the highest amplitudes of the various signals output from sensor array element 430.

[0109] Waveform 804 illustrates the maximum filter applied to the waveform output by sensor array element 430 when switch mechanism 420 is rotated and located at an intermediate distance from sensor array 428 in the switch degree of freedom (e.g., in an intermediate position), where the intermediate distance is greater than the close distance associated with waveform 802. Waveform 804 consists of the highest amplitudes of the various signals output by sensor array element 430. The amplitude of waveform 804 is lower than the amplitude of waveform 802 because element 426 is farther from sensor array 428, resulting in a weaker sensed magnetic field.

[0110] Waveform 806 illustrates the maximum filter applied to the waveform output by sensor array element 430 when switch mechanism 420 is rotated and positioned in the switch degree of freedom at a greater distance from sensor array 428 (e.g., in the pulled position), where the greater distance is greater than the intermediate distance associated with waveform 804. Waveform 806 consists of the highest amplitudes of the various signals output by sensor array element 430. The amplitude of waveform 806 is lower than the amplitudes of waveforms 802 and 804 because element 426 is further away from sensor array 428, resulting in a weaker sensed magnetic field.

[0111] Fig. 9 FIG. 9 is a diagram illustrating a graph 900 of an example waveform based on an output signal provided by an example sensor array 428. Graph 900 has a vertical dimension indicating a voltage scale and a horizontal dimension indicating a time range. In this example, handle 402 is not rotated, resulting in the signal output from sensor array element 430 being approximately constant, e.g., with respect to FIG. Figure 7 and Figure 8 The signal is opposite.

[0112] exist Fig. 9In the example of FIG. 4 , the first waveform 902 is associated with the first switching mechanism 420 (including the sensor element 426). In this example, the first waveform 902 is an analog waveform representing an analog voltage sensed by the sensor array element 430. The first waveform 902 has an amplitude based on the respective outputs from the sensor array element 430. For example, the first waveform 902 can be formed by applying a maximum filter among all outputs of the respective sensor array elements 430 to obtain the highest voltage output by any one of the sensor array elements 430, and using the highest output value as the current value of the waveform 902.

[0113] In this example, the first processed waveform 903 is determined from the first waveform 902. As described below, the first processed waveform 903 may be a digital waveform that is set or latched to a particular state or level (amplitude) based on the amplitude of the first waveform 902 relative to a threshold.

[0114] Different amplitudes of the first waveform 902 can indicate different specific positions of the first switch mechanism 420 in its linear degrees of freedom. As the sensor element 426 moves away from the sensor array 428, the amplitude of the first waveform 902 decreases. In this example, the first waveform 902 has a high amplitude 904 at a specific time, which is the maximum amplitude sensed for the output signal of the sensor array 428 in this example. The amplitude 904 is sensed when the first switch contact portion 422 and the element 426 are in a forward position closest to the sensor array 428 within their linear range of motion.

[0115] The first waveform 902 changes from a high amplitude 904 to an intermediate amplitude 906, for example, in response to a user's hand moving the first switch mechanism 420 to an intermediate position in the switch degrees of freedom, so that the element 426 is in the middle of its linear range of motion. This movement moves the element 426 further away from the sensor array 808, resulting in a decrease in the sensed amplitude. In various embodiments, the amplitude of the first waveform 902 can change linearly or nonlinearly corresponding to the change in the position of the element 426 in the linear degrees of freedom of the switch mechanism 420. The first waveform 902 moves from the intermediate amplitude 906 to the low amplitude 908, which in this example is in response to the first switch mechanism 420 moving to a position (e.g., a backed position) that is farther (e.g., farthest) from the sensor array 428.

[0116] The position of the first switch mechanism 420 is determined by sensing the amplitude of the waveform 902 and comparing the amplitude to one or more thresholds. For example, the high amplitude 904 is above the first threshold 910, indicating that the switch mechanism is in the forward position. The intermediate amplitude 906 is detected to be below the first threshold 910 and above the second threshold 912, indicating that the switch mechanism is in the intermediate position. The low amplitude 908 is detected to be below the second threshold 912, indicating that the switch mechanism is in the reverse position. As described below, before comparing the waveform 902 to the threshold, the waveform 902 has been filtered to the maximum value provided by the sensor array element 430, so that the low amplitude 908 is higher than the maximum value of the waveform 920 of the second switch.

[0117] In this example, when the first waveform 902 exceeds the threshold 910, the first processed (digital) waveform 903 changes from an intermediate state near the intermediate amplitude 906 to a high state near the high amplitude 904. Similarly, when the first waveform 902 is below the threshold 910, the first processed waveform 903 changes from a high state to an intermediate state. When the first waveform 902 is below the threshold 912, the first processed waveform 903 changes from an intermediate state to a low state near the low amplitude 908. When the first waveform 902 exceeds the threshold 912, the first processed waveform 903 changes from a low state to an intermediate state.

[0118] In this example, the second waveform 920 is associated with the second switching mechanism 440. The second waveform 920 is determined based on the output from the sensor array 428, which is based on the position of the second magnet 446. In this example, the second waveform 920 is shown relative to the same time scale (horizontal axis) used for the first waveform 902. In this example embodiment using magnets, the sensor array element 430 outputs a different range of voltage signals when detecting the second magnet 446 (e.g., the second magnet 446 provides a different magnetic field polarity than the first magnet 426), and the voltage signal moves in the opposite direction of the first magnet 426. Therefore, in the first waveform 902, the higher amplitude moves in the positive direction of the voltage axis above the center voltage 916, while in the second waveform 920, the higher amplitude moves in the negative direction of the voltage axis below the center voltage 916.

[0119] In this example, the second waveform 920 is an analog waveform representing an analog voltage sensed by the sensor array element 430. The second waveform 920 has an amplitude (e.g., voltage) based on the respective outputs from the sensor array element 430. For example, the second waveform 920 may be formed by applying a minimum filter among all outputs of the respective sensor array elements 430 to obtain the lowest voltage output by any one of the sensor array elements 430. The lowest output value is used as the current value of the second waveform 920.

[0120] In this example, the second processed waveform 921 is determined from the second waveform 920. As described below, the second processed waveform 921 may be a digital waveform that is set to a particular state or level (amplitude) based on the amplitude of the second waveform 920 relative to a threshold.

[0121] As the second sensor element 446 is moved closer to the sensor array 428, the amplitude of the second waveform 920 decreases. In this example, this is due to the second element 446 including a magnet having a pole facing the sensor array that is opposite in polarity to the pole facing the sensor array of the first element 426. For example, the second waveform 920 can be based on the south pole of the element 446 facing the sensor array 428, while the first waveform 902 can be based on the north pole of the element 426 facing the sensor array 428. In some embodiments, these orientations can be reversed, such that the magnet 426 is associated with a waveform that is negative in amplitude when positioned away from the sensor array 428.

[0122] The low amplitude 922 of the second waveform 920 is the lowest amplitude sensed in this example. The low amplitude 922 is sensed when the second switch mechanism 440 is in the position closest to the sensor array 428 in the switch degree of freedom (and corresponds to this position) (thus corresponding to the highest strength of the magnetic field sensed from the second magnet 446). The second waveform 920 is at an intermediate amplitude 924, for example, in response to the second switch mechanism 440 being in an intermediate position in the linear degree of freedom of the second switch mechanism 440 or being moved to the intermediate position by the user. In this example, when the second waveform 920 is at a high amplitude 926, the second switch mechanism 440 is in a position farther (e.g., farthest) from the sensor array 428 in the switch degree of freedom. In various embodiments, the amplitude of the second waveform 920 can change linearly or nonlinearly corresponding to the change in the position of the element 446 in the linear degree of freedom.

[0123] By sensing the amplitude of the waveform 920 and comparing the amplitude to one or more thresholds, the position of the second switching mechanism 440 is determined. For example, the low amplitude 922 is below the third threshold 932, indicating that the switching mechanism is in the forward position. The intermediate amplitude 924 is above the third threshold 932 and below the fourth threshold 934, indicating that the second switching mechanism is in the intermediate position.

[0124] The high amplitude 926 is detected above the fourth threshold 934, indicating that the second switch mechanism is in the retracted position.

[0125] In this example, when the second waveform 920 is below the third threshold 932, the second processed (digital) waveform 921 changes from an intermediate state near the intermediate amplitude 924 to a low state near the low amplitude 922. Similarly, when the second waveform 920 exceeds the threshold 932, the second processed waveform 921 changes from a low state to an intermediate state. When the second waveform 920 is above the fourth threshold 934, the second processed waveform 921 changes from an intermediate state to a high state near the high amplitude 926. When the second waveform 920 is below the threshold 934, the second processed waveform 921 changes from a high state to an intermediate state.

[0126] Based on obtaining the maximum and minimum values ​​from the sensed voltage, the different magnetic poles facing the sensor element 426 and the sensor element 446 allow the two sensor elements to be sensed independently and simultaneously. This allows the switch positions of the switch mechanisms 420 and 440 to be detected simultaneously. For example, simultaneous activation or user manipulation of the first switch mechanism 420 and the second switch mechanism 440 can be sensed simultaneously. In some examples, for example, as shown in the graph 900, by simultaneously changing the amplitude of the waveform portion 930, the corresponding first switch mechanism 420 and the second switch mechanism 440 can be detected. "Pull" simultaneously, for example, movement in the same direction with their degrees of freedom. Similarly, the first switch mechanism and the second switch mechanism can be "pulled" and "pushed" to different switch positions in their degrees of freedom in different directions.

[0127] Additionally, fewer and / or different thresholds may be used in other embodiments to detect multiple positions of the switch mechanism.

[0128] In some embodiments, other types of sensors may be used in the sensor array 428 in place of or in addition to the magnetic elements and sensors described above. In some examples, similar to the sensor array element 430 of the sensor array 428, multiple individual sensors of other types may be arranged in an array, for example, around an axis of rotation. For example, one or more individual inductive sensors may be used in the sensor array 428 (e.g., as array elements 430), and the sensor elements 426 and 446 may include metal sheets instead of magnets. The metal may be a type of metal that can be sensed by the array elements within the range of motion of the switch mechanism, such as ferrous metal, steel, etc. In some embodiments, a similar physical arrangement of the individual sensors may be used, as described herein for other types of sensors. Other types of non-contact proximity sensors may be used for the sensor array 428.

[0129] In some embodiments, one or more capacitive sensors may be used as, for example, array elements 430 in sensor array 428 to sense the proximity of sensor element 426 (e.g., a piece of conductive material) that may move with switch contact portion 422. In some examples, one or more coils may be used as capacitive sensors for sensor array 428, for example, instead of a single coil of sensor array 428, or multiple coils spaced apart around axis 412 in sensor array 428. In some embodiments, one or more such base member coils may also be used to transfer power across the rotary joint. For example, one or more corresponding second coils may be fixed on handle 402 facing one or more base member coils on the base member, so that power is transferred from one or more base member coils to one or more handle coils. In some of these embodiments, instead of or in addition to sensing one or more base member coils of the sensor element, one or more handle coils may sense the proximity of sensor element 426 and / or 446, and thus the position of the switch in its switch degree of freedom may be detected. For example, data indicating such detected switch position may be sent to the base member, for example, using an optical sensor (emitter and detector on the rotary joint) or other type of sensor.

[0130] In some embodiments, one or more optical sensors may be used. For example, one or more light detectors may be included in a base sensor element such as sensor array 428. In some examples, the light detector may be an array element arranged in sensor array 428 to sense the proximity of an object that may move with a switch mechanism. In some examples, a photoelectric sensor may be used, wherein, for example, a transmitter light source (light emitting diode (LED), laser diode, etc.) transmits a beam of electromagnetic energy (e.g., visible light, infrared light, etc.), and a detector (e.g., photodiode or phototransistor receiver, charge coupled device (CCD), etc.) detects the emitted electromagnetic energy. For example, the transmitter may emit a visible light beam or an infrared light beam to the detector. In some examples, element 426 may block one or more beams of light emitted by one or more array elements 430 at a specific distance from the sensor array, thereby allowing the distance of element 426 from sensor array 428 to be detected. In some embodiments, such a blocking element 426 may reflect backlight of different amplitudes to a detector in sensor array 428, which may determine the distance of element 426 based on the detected light.

[0131] For example, in some embodiments, an optical time-of-flight sensor can be used, which can measure the time it takes for an emitted light beam to reflect from a surface and return to a detector (e.g., a detector adjacent or otherwise close to the emitter), thereby inferring the distance of the object from the emitter. In another example of using an optical sensor, the size of the reflected light beam can be detected to determine the distance of the surface from which the light beam was reflected. In some embodiments, an ultrasonic sensor can similarly send a sound pulse and sense the time to detect a pulse reflected from a sensor element 426, and / or detect the size of the reflected pulse to indicate the distance of the sensor element from the sensor or sensor array.

[0132] In some embodiments using a proximity sensor such as a time-of-flight sensor, the density of sensor array elements (e.g., element 430) can be reduced because the sensor array provides an actual measure of axial distance. In contrast, the Hall effect sensor provides a detected field strength from which the axial distance can be inferred. For example, three time-of-flight sensors can be included as element 430, which can be positioned at 120 degree intervals around axis 412, for example. Two optical paddles can be provided as sensor elements 426 and 446, which are each arranged to cover a half-circle of 180 degrees of rotation (e.g., similar to the half-ring magnet 612), thereby allowing full sensing of handle rotation.

[0133] In another example embodiment using an optical sensor, the emitter of the sensor array 428 can send a light beam (e.g., a laser) to a separator that directs the light beam to a surface included in or connected to the switch mechanism 420 or 440. The surface reflects the light beam to a detector connected to a base member (e.g., housing 409). The surface includes regions or areas with different colors at different locations along the surface, so that different colors receive directed light beams at different switch positions in the switch freedom. The color of the surface is indicated in the light beam reflected from the surface, and the switch position is determined based on the specific reflected color detected. In some embodiments, various types of reference patterns can be provided on the sensor element 426 or 446, which can be sensed by one or more sensors of the sensor array 428. For example, a pattern of lines, dots, one-dimensional or multi-dimensional bar codes and / or other marks can be provided and sensed by a camera or other type of sensor, where the size of the detected mark can indicate the distance between the detector and the element.

[0134] In some embodiments, a touch sensor may be provided in addition to or in place of the switch mechanisms 420 and / or 440. For example, the touch sensor may include a touch surface on the handle 402 disposed on the top surface of the switch contact portions 422 and / or 442, or in place of the touch surface of these switch contact portions. The touch sensor may be configured to sense the location of a user's touch on the touch surface. In some examples, the touch surface may cover a surface area of ​​the handle 402 similar to the surface area covered by the switch contact portions 422 described herein, or may cover a larger or smaller surface area.

[0135] In some embodiments, the surface area of ​​the touch surface can be divided into different command areas or regions, each corresponding to a different command, and when the area is detected to be touched by the user, the associated command is issued to the control system. For example, the position of the user touch on the touch surface can be sensed as the position of a switch, for example, the forward, middle, and back positions as described herein correspond to the forward, middle, and back areas defined on the surface area of ​​the touch sensor. Any other position in one or two dimensions of the touch surface (e.g., left, right, left front, right back, etc.) and the corresponding area defined on the touch surface may also or alternatively be sensed by the touch sensor. In some embodiments, the different command areas of the touch surface can be tactilely indicated to the user via physical features (e.g., ridges, bumps, or other features provided on the touch surface).

[0136] In some embodiments, a user's touch on the touch surface causes a change or activation of a corresponding switch position (e.g., by a control system) only if the user's touch is continuously sensed on the touch surface (e.g., in a single area) for a time exceeding a time threshold. In some embodiments, different command areas of the touch sensor can be associated with different time thresholds for such activation.

[0137] In some examples, the touch sensor may include a capacitive sensor surface, such as a sensing system similar to that used in touch screens currently available on cell phones and similar devices. In various embodiments, the touch surface may also include display capabilities (displaying pixels for the touch screen), such as being able to display various indicators of switch states as colors, icons, etc., or displaying other information related to the control system, the slave device. In some embodiments, a resistive sensor surface may be used, similar to a resistive touch screen.

[0138] In some embodiments, as shown in other embodiments described herein, a power supply and communication channel can be provided to the touch sensor across the rotary joint between the handle 402 and the base member to allow the handle to rotate continuously relative to the base member. For example, a rotary transformer can be used to transfer power across the rotary joint, wherein the first coil is fixed to the base member, and the second coil is fixed to the handle 402, and power is transferred between the coils. Data from the touch sensor or data can be transferred to the touch sensor across the rotary joint via an optical sensor or other type of sensor, for example, an optical data transmitter on the handle can transmit electromagnetic energy through an axial channel extending between the first coil and the second coil to send data, and an optical data receiver / detector on the base member can detect the energy emitted. In some examples, a coil can be used similarly to that described in reference to U.S. Patent No. 8,073,335B2 (submitted on September 30, 2008), the entire contents of which are incorporated herein by reference. In some embodiments, a slip ring or other mechanism can be used to transfer power and data to / from the touch sensor across the rotary joint.

[0139] In some embodiments using a touch sensor, the rotational position of the handle 402 can be detected similarly as described above. For example, a plunger and sensor element similar to plunger 424 and sensor element 426 can be coupled to the touch sensor or to one side of the touch surface, where the sensor element 426 is rotated about the axis 412 using the handle 402 similar to that described herein (and, for example, not linearly translated parallel to the axis 412). Similar to that described herein, the rotational position of the sensor element 426 about the axis 412 can be detected by the sensor array 428 on the base member.

[0140] Fig.10 is a perspective view of an example embodiment of a controller portion 1000 that can provide a force in the grip degree of freedom of a handle of a control input device that can be used with the switch mechanisms described herein in some embodiments. Other configurations of actuators and force transfer mechanisms can be used in other embodiments.

[0141] In some embodiments, the handle 1002 can be similar to the handle 1002 described above. Figure 4 The handle 402 of the controller portion 400 is depicted, or a different handle or control input device may be used. One or more contact switches 1001 may be provided on the handle 1002, and the operation of the contact switches 1001 is similar to that described in various embodiments herein.

[0142] The spindle 1004 can be connected to and drive the gripping members 1006a and 1006b, for example, via respective mechanical linkages 1007 that are rotatably coupled between each gripping member 1006 and the spindle 1004. For example, the spindle 1004 can be used to Figure 4 The main axis 404.

[0143] An actuator 1008 may be provided to drive the linear motion of the spindle 1004 along the longitudinal axis 1012. In some embodiments, the actuator 1008 may be a rotary DC gear motor or other type of rotary actuator. In some examples, the actuator 1008 may be rigidly mounted to a connecting rod (e.g., a housing) 1009 and oriented so that its axis rotates about an axis oriented perpendicular to the axis 1012 (90 degrees).

[0144] The spindle 1004 can be connected to a winch mechanism 1016 disposed between the spindle 1004 and the actuator 1010. The winch mechanism 1016 includes a linear slide 1018 coupled to the spindle 1004. The spindle 1004 can rotate independently of the linear slide 1018. The linear slide 1018 can move linearly, such as sliding, on a linear guide rigidly coupled to the connecting rod 1009 and aligned parallel to the spindle. The winch mechanism 1016 can include a winch drum 1022 rigidly coupled to the rotation axis of the actuator 1008. The winch drum 1022 is coupled to the linear slide 1018 by a cable 1024. A first end of the cable 1024 can be attached to a first portion of the slide 1018 closest to the handle 1002. The cable 1024 is wrapped around the winch drum 1022 multiple times, and a second end of the cable 1024 can be attached to a second portion 1026 of the linear slide 1018, such as an end or portion of the slide 1018 that is farther from the handle 1002 than the first portion of the slide 1018.

[0145] The driven rotation of the shaft of the actuator 1010 directly drives the constrained linear motion of the linear slide 1018 and the spindle 1004 via the cable 1024, thereby generating a force on the gripping members 1006a and 1006b to bias them toward the open position and the closed position according to the linear motion of the spindle 1004. In some embodiments, a transmission mechanism other than the winch mechanism 1016 can be used. For example, a rack and pinion mechanism or a drive wheel can be used.

[0146] In some embodiments, an actuator 1010 (e.g., a motor) can be rigidly mounted to the housing 1009 and used to drive the rotation of the handle 1002 around an axis 1012. In this example, the actuator 1010 is oriented so that its rotational axis rotates around an axis oriented perpendicular to the axis 1012 (90 degrees) of the spindle 1004. In this example, the actuator shaft is rigidly coupled to a roller bevel gear 1030 including a plurality of teeth that engage with a plurality of grooves / teeth of a roller gear 1032 and cause the roller gear 1032 to rotate in response to the rotation of the actuator shaft. This causes a rotational force around the axis 1012 to the handle 1002.

[0147] In other embodiments, actuator 1010 and / or actuator 1008 may be oriented so that their rotational axes rotate about axes parallel to axis 1012 and are connected to spindle 1004 via a transmission, for example.

[0148] Similarly, as described in various embodiments herein, one or more sensors can be coupled to the handle 1002 and / or other components of the controller portion 1000 and can detect the position of the gripping members 1006a and 1006b in their degrees of freedom. For example, in some embodiments, a rotary encoder can be included in the housing of the actuator 1008 to detect the rotation of the axis of the actuator and thus detect the linear motion of the spindle 1004. In some embodiments, a linear sensor can be coupled to the connecting rod 1009 to sense the linear motion of the spindle 1004 or the linear slide 1018. Similarly, one or more sensors can be coupled to one or more components of the controller portion 1000 to detect the roll orientation of the handle 1002 around the axis 1012. For example, a rotary encoder can be included in the housing of the actuator 1010 to detect such a roll orientation based on the rotation of the actuator shaft. The sensor can send a signal describing the sensed position, orientation, or motion to one or more control circuits of the remote operation system. In some modes or embodiments, the control circuit can provide a control signal to the slave device 104. The sensor may be any of a variety of types of sensors, such as a magnetic sensor (eg, a magnetic incremental linear position sensor, a Hall effect sensor, etc.), an optical sensor, an encoder, a resistive sensor, and the like.

[0149] In various embodiments, the handle 1002 can have additional degrees of freedom. In some examples, the controller portion 1000 can allow the handle 1002 to move within the workspace of the main control workstation 102 with multiple degrees of freedom, such as six degrees of freedom, including three rotational degrees of freedom and three translational degrees of freedom. One or more additional degrees of freedom can be sensed and / or actuated similarly to those described above for the degrees of freedom.

[0150] Fig.111 is a flow chart illustrating an example method 1100 for detecting the position of a control switch on a control input device. The method 1100 may be used, for example, with an example remote control system or other control system, where the control input device is a master control device (master controller) that controls slave devices. For example, in some embodiments, the control input device is a workstation, such as, Figure 1 The method 1100 may be performed by a control circuit component of the master control workstation 102. In some examples, the control circuit may include one or more processors, such as a microprocessor or other control circuit, as described below. Fig.12 Some examples thereof are described. The master controller may be, for example, any of the master controller embodiments described herein. Other embodiments may use a control input device having one or more features described herein with other types of systems (e.g., non-teleoperating systems, virtual environments without physical slave devices and / or without physical objects that physically interact with physical slave devices, such as medical simulations).

[0151] In block 1102, a sensor signal is received. For example, as described herein, a sensor signal may be received as an output from a sensor array element 430 of a sensor array 428. The sensor signal may describe detection by an associated sensor of a sensing element, such as sensor element 426 and / or 446, that is coupled to a switch mechanism and that may be movable with its corresponding switch degrees of freedom, e.g., may be movable to a plurality of switch positions. In some embodiments, the sensor element may also be rotated about a central axis as described herein.

[0152] In block 1104, maximum filtering and / or minimum filtering may be applied to the received sensor signal to obtain one or more switch position values ​​for each switch mechanism. In some examples, maximum filtering may be applied to sensor signals having a larger amplitude based on a closer position of a sensor element of the switch mechanism. For example, for a particular polarity of sensor element 426, a sensor signal is output by sensor array element 430, wherein a larger amplitude is based on a higher strength of a detected magnetic field provided by the element, and wherein the magnetic field has a higher strength at a switch position closer to the sensor array.

[0153] In some embodiments, minimal filtering can be applied to sensor signals having smaller amplitudes (or having negative amplitudes) based on closer locations of sensor elements of the switch mechanism. For example, for a particular polarity of sensor element 446, a sensor signal is output by sensor array element 430 where the smaller amplitude is based on a higher strength of the detected magnetic field provided by that element, and where the magnetic field has a higher strength at a switch location closer to the sensor array.

[0154] In other embodiments, other types of filtering and / or other signal processing may be used to obtain the switch position value in block 1104. For example, the switch position value may be the sum of all outputs of the sensor array elements 430 (e.g., total field strength). In other examples, the switch position value may be an average of all or some of the sensor signals from the sensor array elements at a particular point in time, and / or each sensor signal may be averaged over a particular time period to obtain the switch position value.

[0155] In block 1106, the maximum switch position value is compared to one or more switch position thresholds, and / or the minimum switch position value is compared to one or more switch position thresholds. For example, as described above, the switch position thresholds for the maximum value may include two thresholds for the three switch positions in the switch degrees of freedom. Similarly, two switch position thresholds may be used for the minimum value, e.g., different thresholds than the thresholds for the maximum value may be used for the three switch positions in the switch degrees of freedom. A greater or lesser number of thresholds may be used in various implementations.

[0156] In some embodiments, the determined maximum and minimum switch position values ​​can be converted into digital values ​​at discrete digital signal levels. Fig.10 As described in the example of , the digital switch position value can be at one of three levels based on the amplitude of the maximum and minimum signals relative to the switch position thresholds.

[0157] In block 1108, the maximum switch position value is used to determine the switch position of the first switch mechanism (e.g., switch mechanism 420) based on the comparison of block 1106. In some examples, if the maximum value is above a first high threshold, the switch mechanism is in the closest switch position. If the maximum value is below the first high threshold and above a first low threshold, the switch mechanism is in an intermediate switch position. If the maximum value is below the first low threshold, the switch mechanism is in the farthest switch position. In other embodiments, more or fewer switch positions may be determined based on thresholds.

[0158] In block 1110, the minimum switch position value is used to determine the switch position of the second switch mechanism (e.g., switch mechanism 440) based on the comparison of block 1106. For example, if the minimum value is below the second low threshold, the switch mechanism is in the closest switch position. If the minimum value is above the second low threshold and below the second high threshold, the switch mechanism is in the middle switch position. If the minimum value is above the second high threshold, the switch mechanism is in the farthest switch position. In other embodiments, more or fewer switch positions may be determined based on the thresholds.

[0159] The determined switch position can be used to control one or more functions of the master controller and / or the controlled slave device. For example, the detected specific switch position can be used to activate a command to the slave device (e.g., apply energy to the surgical site, activate suction or irrigation, etc.), change the control mode (e.g., from a control mode to a non-control mode, or vice versa), activate other functions (such as user interface functions in a user interface displayed on a display screen), etc.

[0160] In block 1112, the rotational (angular) position of the handle 402 may be determined, optionally based on the (raw) sensor signal received in block 1102. Block 1112 may be performed at any time after block 1102, such as before or in parallel with any of blocks 1104-1110. In some examples, the sensor signals from all sensor array elements 430 may be compared, or the sensor signals from two or three adjacent sensor array elements 430 that output the highest (or lowest) amplitude sensor signals may be compared. The sensor signal with the highest magnitude (or lowest magnitude in some cases, such as the switch mechanism 446 described above) may indicate the rotational position of the sensor element (e.g., element 426 or 446) by indicating that the sensor array element 430 that outputs the highest (or lowest) magnitude signal is closest to the sensor element in terms of rotational position. In some embodiments, the magnitude of the sensor signal may indicate a more precise rotational position of the sensor element on the sensing region (e.g., the surface area facing the sensor element) of a particular sensor array element 430. For example, the sensed amplitude may be highest when element 426 or 446 is in a rotational position corresponding to the center of the sensing area of ​​sensor array element 430 and may gradually decrease as the sensor element is rotated about a longitudinal axis away from the center.

[0161] In some embodiments, the sensed rotational position obtained in block 1112 can be used as a check or verification of the sensed position provided by one or more other sensors that detect the rotational position of the handle 402 about the longitudinal axis 413, for example to determine whether the other sensors are functioning properly. In some examples, the verification can compare sensor signals from two or three adjacent sensor array elements 430. This verification can be performed at any time using the sensor signals of block 1102. In some embodiments, the verification can be performed before blocks 1104-1110. For example, if the verification determines that the sensor array element 430 is faulty, the output of the sensor array element can be ignored when determining the maximum and minimum signals and the switch position in blocks 1104-1110.

[0162] Where appropriate, the blocks described in the methods disclosed herein may be executed in an order different from the order shown and / or executed simultaneously (partially or completely) with other blocks. Certain blocks may be executed on a portion of data, and then, for example, on another portion of data. Not all of the blocks described need to be executed in various embodiments. In some embodiments, blocks may be executed multiple times in a method in different orders and / or at different times.

[0163] Fig.12 1 is a block diagram of an example master-slave system 1200 that can be used with one or more features described herein. The system 1200 includes a master device 1202 that a user can manipulate to control a slave device 1204 that communicates with the master device 1202. In some embodiments, the master device 1202 can be Figure 1 The main control workstation 102 may include Figure 1 The main control workstation 102 of FIG. More generally, the main device 1202 can be any type of device that provides a main controller that can be physically manipulated by a user. The main device 1202 generates control signals C1 to Cx that indicate the position, state, and / or change of the degrees of freedom of one or more main controllers. The main device 1202 can also generate control signals (not shown) indicating the user's selection of physical buttons and other manipulations.

[0164] The control system 1210 may be included in the master device 1202, in the slave device 1204, or in a separate device, such as an intermediate device between the master device 1202 and the slave device 1204. In some embodiments, the control system 1210 may be distributed between multiple devices in these devices. The control system 1210 receives control signals C1 to Cx and generates actuation signals A1 to Ay, which are sent to the slave device 1204. The control system 1210 may also receive sensor signals B1 to By from the slave device 1204, which indicate the position, state and / or change of various slave device components (e.g., manipulator arm elements). The control system 1210 may include common components such as a processor 1212, a memory 1214, and interface hardware 1216 and 1218 for communicating with the master device 1202 and the slave device 1204, respectively. The processor 1212 can execute program code and control the basic operation of the system 1200, including functions related to sensing the switch mechanism described herein, and can include one or more processors of various types, including microprocessors, application specific integrated circuits (ASICs), and other electronic circuits. The memory 1214 can store instructions executed by the processor and can include any suitable processor-readable storage medium, such as random access memory (RAM), read-only memory (ROM), electrically erasable read-only memory (EEPROM), flash memory, etc. Various other input and output devices can also be connected to the control system 1210, such as one or more displays 1220, such as Figure 2 The viewer 213 and / or display 124 of the main control workstation 102.

[0165] In this example, the control system 1210 includes a mode control module 1240, a control mode module 1250, and a non-control mode module 1260. Other embodiments may use other modules, such as a force output control module, a sensor input signal module, etc. In some embodiments, the modules 1240, 1250, and 1260 may be implemented using the processor 1212 and the memory 1214, such as program instructions stored in the memory 1214 and / or other memory or storage devices connected to the control system 1210.

[0166] The mode control module 1240 may detect when a user initiates a control mode and a non-control mode of the system, for example, by selection of a control by the user, sensing the presence of a user at a master control workstation or at a master controller, sensing manipulation of a required master controller, etc. The mode control module may set the control mode or the non-control mode of the control system 1210 based on one or more control signals C1 to Cx.

[0167] In some embodiments, the control mode module 1250 can be used to control the control mode of the control system 1210. The control mode module 1250 can receive the control signals C1 to Cx and can generate actuation signals A1 to Ay that control the actuators of the slave device 1204 and make them follow the movement of the master device 1202, for example, so that the movement of the slave device 1204 corresponds to the mapping of the movement of the master device 1202. The control mode module 1250 can also be used to control the force on the master controller of the master device 1202 using one or more control signals D1 to Dx output to one or more actuators, for example, the force output on one or more components (e.g., gripping members) of the master controller, the actuator is used to apply force to the components of the master controller (e.g., gripping members of the master controller) in the rotational degrees of freedom of the master controller, the force on the arm link connected to the master controller, etc. In some examples, the control signals D1 to Dx can be used to provide force feedback, gravity compensation, etc.

[0168] In some embodiments, the non-control mode module 1260 can be used to control a non-control mode of the system 1200. In the non-control mode, movement in one or more degrees of freedom of the master device 1202 or other manipulation of the master device 1202 does not affect movement of one or more components of the slave device 1204. In some embodiments, the non-control mode can include one or more other operating modes of the control system 1210, such as a selection mode in which movement of the master controller in one or more degrees of freedom thereof and / or selection of a control switch of the master controller (e.g., Figure 4 The switch mechanisms 420 and 440 of the display 1200 and / or other display device may control the selection of displayed options, for example, in a graphical user interface displayed by the display 1220 and / or other display device. The viewing mode may allow movement of the master controller to control the display provided by the camera or the movement of a camera that may not be included in the slave device 1204. The non-control mode module 1260 may use the control signals C1 to Cx to control such elements (e.g., cursor, view, etc.), and during such non-control mode, the non-control mode module may determine the control signals D1 to Dx to cause the output of a force on the master controller, for example, to indicate to the user an interaction or event occurring during such a mode.

[0169] Some embodiments described herein, such as method 1100 , may be implemented at least in part by computer program instructions or codes that may be executed on a computer.

[0170] For example, the code may be implemented by one or more digital processors (e.g., microprocessors or other processing circuits). Instructions may be stored on a computer program product including a non-transitory computer-readable medium (e.g., a storage medium), wherein the computer-readable medium may include a magnetic, optical, electromagnetic or semiconductor storage medium, the semiconductor storage medium including a semiconductor or solid-state memory, a tape, a removable computer floppy disk, a random access memory (RAM), a read-only memory (ROM), a flash memory, a hard disk, an optical disk, a memory card, a solid-state storage drive, etc. The medium may be a server or other device connected to a network (such as the Internet) that provides downloads of data and executable instructions or included in the server or other device. Alternatively, it may be implemented in hardware (logic gates, etc.) or a combination of hardware and software. Example hardware may be a programmable processor (e.g., a field programmable gate array (FPGA), a complex programmable fuzzy device), a general-purpose processor, a graphics processor, an application-specific integrated circuit (ASIC), etc.

[0171] The functional blocks, operations, features, methods, apparatuses, and systems described in the present disclosure may be integrated or divided into different combinations of systems, apparatuses, and functional blocks.

[0172] Although the embodiments of the present invention have been described according to the illustrated examples, these embodiments may be modified and these modifications are within the spirit and scope of the present disclosure. Therefore, many modifications may be made without departing from the spirit and scope of the appended claims.

Claims

1. A control input device, comprising: Base member; a roll member coupled to the base member and rotatable relative to the base member about a central axis with a roll degree of freedom; a switch contact portion coupled to the roll member and rotatable with the roll member about the central axis in the roll degree of freedom, wherein the switch contact portion is movable to a plurality of positions in the switch degree of freedom relative to the roll member; a first sensor element coupled to the switch contact portion and movable with the switch contact portion in the switching degree of freedom and the rolling degree of freedom, wherein the first sensor element is a passive element configured not to receive electrical signals; and a base sensor element coupled to the base member and configured to sense proximity of the first sensor element to the base sensor element, wherein the base sensor element is configured to output a signal indicative of a current position of the switch contact portion in the switch degree of freedom independent of a rotational orientation of the roll member in the roll degree of freedom.

2. The control input device according to claim 1, wherein: The first sensor element is a sensor element that is not powered.

3. The control input device according to claim 1, wherein: The first sensor element is a passive magnet and the base sensor element comprises a Hall effect sensor.

4. The control input device according to claim 3, wherein: The passive magnet is coupled to the switch contact portion via an elongated link member.

5. The control input device according to any one of claims 3 or 4, wherein: The passive magnet is a portion of a ring magnet.

6. The control input device according to any one of claims 1 to 4, wherein: The base sensor element includes a sensor array having a plurality of sensors arranged at least partially concentrically about the central axis.

7. The control input device according to any one of claims 1 to 4, wherein: The base sensor element includes a sensor array having a plurality of Hall effect sensors arranged at least partially concentrically about the central axis.

8. The control input device according to any one of claims 1 to 4, wherein: The signal indicative of the current position of the switch contact portion is also indicative of the rotational orientation of the roll member in the roll degree of freedom.

9. The control input device according to any one of claims 1 to 4, further comprising a second switch contact portion movable with a second switch degree of freedom, wherein: The second switch contact portion is coupled to a second sensor element, the second sensor element is movable with the second switch contact portion in the second switching degree of freedom and the rolling degree of freedom, and the second sensor element is a passive sensor element.

10. The control input device according to claim 9, wherein: The first sensor element is a magnet having a first pole facing the base sensor element, and wherein the second sensor element is a magnet having a second pole facing the base sensor element, the second pole having a polarity opposite to the first pole.

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