Movable display unit on track

Abstract

Embodiments relate to a movable display unit on a track. In some embodiments, a control unit includes a support linkage including a first support coupled to a second support, a track member coupled to a distal portion of the second support, and a display unit coupled to the track member. The display unit comprises a display device. The display unit may be linearly translated by the first and second degrees of freedom provided by the support linkage. The display unit is rotatable relative to the second support about a tilt axis at a third degree of freedom defined by the track member.

Description

[0001] This application is a divisional application of Chinese patent application 202080051977X (PCT / US2020 / 047501), whose international application date is August 21, 2020 and whose national phase entry date is January 18, 2022, and whose name is “Movable Display Unit on Tracks”.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This application claims priority to U.S. Provisional Patent Application No. 62 / 890,876, filed on August 23, 2019, entitled “Moveable Display Unit on Track,” the entire contents of which are incorporated herein by reference. Technical Field Background Art

[0004] Display devices (including display screens, wearable display devices, projectors, etc.) are used in various devices and applications. In some applications, the display device outputs an image captured by a camera that provides a view of the scene.

[0005] In some applications, the display device can be used in conjunction with other devices and allow the user to, for example, view a display view provided by the display device in conjunction with the operation of other devices. For example, in a teleoperation system, a user typically operates a control input device to remotely control (e.g., teleoperate) the motion and / or other functions of a controlled device (such as a manipulator system) at a working site. In some examples, in some teleoperated surgical systems, a user operates a control input device to manipulate surgical instruments and other devices to perform surgical operations at a surgical site. The control input device typically includes a hand input device, such as a gripper grip, a joystick, an exoskeleton glove, and the like. In some examples of surgical or other medical tasks, the hand input device can control various surgical instruments, such as tissue graspers, needle drivers, electrosurgical cauterization probes, cameras, and the like, which perform functions such as holding or driving a needle, grasping a blood vessel, or dissecting, cauterizing, or coagulating tissue. Other applications may include various teleoperation tasks performed at a working site using a teleoperation system.

[0006] In various remote operating systems, a display unit is used in conjunction with a control input device. For example, a display unit may include a display device that displays an image of a view of a remote work site or a portion thereof captured by a camera at the work site. The display unit may be held by a mechanically grounded support so that a user can operate the control input device and control the manipulator device to perform a task at the work site while viewing the view of the work site displayed by the display unit. Other systems may also include a display unit that provides a display view of the work site to the user without the user using the control input device, for example, to monitor tasks or events occurring at the work site. In some of these systems, a user can adjust the display view by manipulating the camera by manipulating the hand input device, for example, rotating, translating, and zooming the camera's view to obtain the desired magnification and viewing angle of the work site. This allows the view of the work site to be customized for clearer presentation, and allows tasks to be accurately performed at the work site based on the user-customized view.

[0007] However, a teleoperation system may provide a viewing device that has a restricted viewing area (e.g., a user must peer through a viewport or eyepiece) and is static and rigid in its position relative to the user. The user must conform the user's head and body position to the viewing device during operation of the system to be able to use the viewing device. For example, a user who wishes to look down to view an object closer to the user must adjust his or her eyes downward without tilting his or her head so that the user can continue to view an image in the restricted viewing area of ​​the viewing device.

[0008] In addition, manipulation of the display view in the viewing device can be challenging for users of some systems. For example, if a user is grasping a hand input device of a control input device to move a manipulator instrument at a work site, adjusting the view in the viewing device may require the user to provide hand input to the control input device and / or enter a different control mode to change the display view. Such operations typically require the user to interrupt and pause manipulation of the manipulator instrument to perform the view adjustment, thereby causing distraction and potential inaccuracy when performing the task. In addition, some non-manual methods of controlling the display view (such as eye tracking sensors or voice commands) are generally imprecise and unreliable, potentially introducing ambiguity into the commands provided by the user. Summary of the invention

[0009] Embodiments of the present application relate to a display unit movable on a track. In some embodiments, a control unit includes a support linkage, a track member, and a display unit, wherein the support linkage includes a first support coupled to a second support, the track member is coupled to a distal portion of the second support, and the display unit is coupled to the track member. The display unit includes a display device. The display unit can be linearly translated by a first and a second degree of freedom provided by the support linkage. The display unit can rotate relative to the second support about a tilt axis with a third degree of freedom defined by the track member.

[0010] In various embodiments of the control unit, the track member is an arcuate member having a radius that determines the position of the tilt axis, and the tilt axis is oriented orthogonally to the first and second degrees of freedom. In some embodiments, the second support member can be linearly translated along the first axis with the first degree of freedom relative to the first support member, and the distal portion of the second support member can be linearly translated along the second axis with the second degree of freedom relative to the first support member. In some embodiments, the track member is rigidly coupled to the distal portion of the second support member, and the display unit includes a sliding member that is slidably coupled to the track member and can move along the track member around the tilt axis with the third degree of freedom. In some examples, the display unit can rotate around a yaw axis with a fourth degree of freedom relative to the sliding member, and the yaw axis is orthogonal to the tilt axis. The first support member and the second support member can be fixed relative to each other in orientation.

[0011] In some embodiments, the distal portion of the first support is movable along a first axis, and the distal portion of the second support is movable along a second axis, the first axis is orthogonal to the second axis, and the tilt axis is orthogonal to the first axis and the second axis. In some embodiments, the display unit is rotatable in a plane about a defined pivot axis, and the rotation of the display unit about the defined pivot axis is a combination of a linear movement of the display unit in the first degree of freedom, a linear movement of the display unit in the second degree of freedom, and a rotational movement of the display unit in the third degree of freedom.

[0012] In some embodiments, the display unit is rotatable relative to the sliding member about a fourth axis in the fourth degree of freedom, the fourth axis being orthogonal to the tilt axis, and the display unit includes a second track member that guides the display unit to rotate in the fourth degree of freedom. In some embodiments, the first support member includes a first retractable base portion and a second retractable base portion, the second retractable base portion being linearly translatable relative to the first retractable base portion along the first axis, the second support member includes a first retractable arm portion and a second retractable arm portion, the second retractable arm portion being linearly movable relative to the first retractable arm portion along the second axis, and the second retractable base portion being rigidly coupled to the first retractable arm portion. In some embodiments, the display unit includes a head input device provided on the display unit and receiving input from a user's head, and / or a hand input device provided on the display unit and receiving input from a user's hand. In some embodiments, the control unit is coupled to a control input device that can be manipulated by a user to control one or more functions of the remotely operated manipulator system.

[0013] In some embodiments, the control unit also includes a first actuator, a second actuator, a third actuator and / or a fourth actuator, wherein the first actuator is configured to output a first force on the display unit with the first degree of freedom, the second actuator is configured to output a second force on the display unit with the second degree of freedom, the third actuator is configured to output a third force on the display unit with the third degree of freedom, and the fourth actuator is configured to output a fourth force on the display unit with the fourth degree of freedom, wherein the display unit can rotate around a fourth axis relative to the sliding member.

[0014] In some embodiments, a remote operation system control unit includes a vertical member and a horizontal member, the vertical member having a first portion and a second portion, the second portion of the vertical member being linearly translatable relative to the first portion of the vertical member along a vertical axis, the horizontal member having a first portion and a second portion, the first portion of the horizontal member being rigidly coupled to the second portion of the vertical member, and the second portion of the horizontal member being linearly translatable relative to the first portion of the horizontal member along a horizontal axis. The horizontal axis is orthogonal to the vertical axis. The control unit includes a track member and a display unit, the track member being rigidly coupled to the second portion of the horizontal member and being curved around a tilt axis, the display unit being slidably coupled to the track member and being movable along the track member around the tilt axis with a third degree of freedom, and the display unit including a display device.

[0015] In various embodiments of the remote operation system control unit, the second portion of the vertical member and the first portion of the vertical member are telescopically coupled, and the second portion of the horizontal member and the first portion of the horizontal member are telescopically coupled. In some embodiments, the tilt axis is orthogonal to the horizontal axis and orthogonal to the vertical axis. In some embodiments, the display unit is rotatable about a defined pivot axis, and the rotation about the defined pivot axis is generated by a synergistic combination of linear movement of the second portion of the vertical member along the vertical axis, linear movement of the second portion of the horizontal member along the horizontal axis, and rotational movement of the display unit about the tilt axis. For example, the defined pivot axis may be at a position extending through the neck of a user operating the display unit, may extend through an input device of the display unit at a contact point between the forehead of the user operating the display unit, may coincide with an eye axis extending through an eye of the user operating the display unit, or may extend through a portion of a hand input device provided on the display unit, the hand input device being configured to be operated by a hand of the user operating the display unit.

[0016] In some embodiments, the display unit is coupled to the track member via a sliding member, the display unit is rotatable relative to the sliding member about a yaw axis with a fourth degree of freedom, the yaw axis is orthogonal to the tilt axis, and the display unit is coupled to an arc track that enables the rotation about the yaw axis. In some embodiments, the control system further comprises a first actuator, a second actuator, and a third actuator, the first actuator being configured to output a first force on the second portion of the vertical member, the second actuator being configured to output a second force on the second portion of the horizontal member, and the third actuator being configured to output a third force on the display unit about the tilt axis. In some embodiments, a sliding member couples the display unit to the track member and comprises the third actuator that moves with the sliding member about the tilt axis. In some embodiments, the display unit is rotatable relative to the horizontal member about a yaw axis with a fourth degree of freedom, and the yaw axis is orthogonal to the tilt axis.

[0017] In some embodiments, a remote operation system includes a support mechanism, the support mechanism including a support linkage, a track member, and a display unit, the support linkage including a plurality of links, the track member coupled to a distal end of the support linkage, and the display unit coupled to the track member. The display unit is movable with a plurality of degrees of freedom based on relative movement between the plurality of links and based on movement of the display unit guided by the track member, and the display unit includes a display device. The system includes a plurality of actuators coupled to the support linkage, a control input device configured to provide an input signal based on movement of the control input device by a user, and a control system communicating with the support mechanism and the control input device. The system is configured to provide a first control signal to the plurality of actuators to cause the display unit to rotate about a defined pivot axis, the rotation about the defined pivot axis being caused by movement of the display unit in at least two of the plurality of degrees of freedom. The system is further configured to provide a second control signal to the teleoperated manipulator system based on the input signal from the control input device, the second control signal causing movement of an instrument of the manipulator system. In some embodiments, the track member is rigidly coupled to the distal end of the support linkage, and the display unit is slidably coupled to the track member and movable along the track member in a rotational degree of freedom of the plurality of degrees of freedom about the tilt axis.

[0018] In some embodiments, a method for controlling a display system includes receiving a first user input at a first input device, and controlling an actuator to move a display unit in a vertical plane about a defined pivot axis based on the first user input. The display unit is coupled to a support linkage, and the movement of the display unit includes sliding the display unit along an arcuate track member coupled to the support linkage. The display unit includes a display device.

[0019] In some embodiments of the method, controlling the actuator to move the display unit includes causing the second link of the support linkage to linearly translate in a first degree of freedom along a first axis relative to the first link; causing a portion of the second link to linearly translate in a second degree of freedom along a second axis relative to the first link; and causing the display unit to rotate around a third axis with a third degree of freedom relative to the second link.

[0020] In some embodiments, the first user input is received from a head input device provided on the display unit and receiving input from a user's head, and / or from a hand input device provided on the display unit and receiving input from a user's hand, and the method further comprises receiving a second user input at a second input device coupled to the support linkage, and based on the second user input, controlling an instrument actuator to move an instrument of the manipulator system in space. In some embodiments, the method comprises updating an image displayed by the display device of the display unit in accordance with the first user input (or otherwise in accordance with the movement of the display unit). In some embodiments, the method comprises causing an actuator of the manipulator system to move an image capture device of the manipulator system in accordance with the first user input or in accordance with the movement of the display unit, the image data being received from the image capture device and displayed by the display device of the display unit.

[0021] In some embodiments, a control unit includes means for receiving a first user input at a first input control device, and means for controlling a display unit actuator to move a display unit in a vertical plane about a defined pivot axis based on the first user input, wherein the display unit is coupled to a support. Moving the display unit includes sliding the display unit along an arcuate track member coupled to the support, and the display unit includes a display device. In some embodiments, the control unit also includes means for receiving a second user input, and means for controlling a manipulator instrument actuator to move the manipulator instrument in space based on the second user input. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of an example teleoperated surgical system including a control input device, a display system, and a manipulator device according to some embodiments;

[0023] Figure 2 is a front view of a user control system including a control input device and a display system according to some embodiments;

[0024] Figure 3-Figure 5 are perspective, front, and side views, respectively, of an example display system according to some embodiments;

[0025] Figure 6 is a side view of another example of a portion of a display system according to some embodiments;

[0026] Figure 7 is a side view of yet another example of a portion of a display system according to some embodiments;

[0027] Figure 8-Figure 11is a side view of a portion of a display system according to some embodiments, illustrating rotation of a display unit about a defined neck pivot axis;

[0028] Figure 12-14 According to some embodiments Figure 8 a side view of a portion of a display system showing rotation of a display unit about a defined eye pivot axis;

[0029] Figure 15-16 are perspective and side views, respectively, of an example base support for a display system according to some embodiments;

[0030] Fig.17 and Fig.18 are perspective and side views, respectively, of an example arm support for a display system according to some embodiments;

[0031] Figure 19-21 are side, front, and perspective views, respectively, of an example tilt mechanism according to some embodiments;

[0032] Fig. 22 is a perspective view of an example display unit mechanism according to some embodiments;

[0033] Figure 23-Figure 25 are perspective, front and side views, respectively, of another embodiment of a display system according to some embodiments;

[0034] Figure 26-Figure 29 is a side view of a portion of a display system according to some embodiments, illustrating rotation of a display unit about a defined neck pivot axis;

[0035] Fig.30 and Fig.31 According to some embodiments Fig.26 a side view of a portion of a display system showing rotation of a display unit about a defined eye pivot axis;

[0036] Fig.32 is a perspective view of another embodiment of a display system according to some embodiments;

[0037] Figure 33-Figure 36 According to some embodiments Fig.32 A front view, a side view, a top view, and a bottom view of a portion of a display system;

[0038] Fig.37 and Fig.38 According to some embodiments Fig.32 A perspective view of a portion of a display system;

[0039] Fig.39 According to some embodiments Fig.32 a side view of a portion of a display system showing a defined pivot axis;

[0040] Fig.40 is a perspective view of an example portion of a control input device that may be used with the described display system according to some embodiments;

[0041] Fig.41 is a flow chart illustrating an example method for operating a display system including one or more features described herein, according to some implementations; and

[0042] Fig.42 is a block diagram of an example master-slave system that may be used with one or more implementations described herein. DETAILED DESCRIPTION

[0043] Embodiments relate to a movable display system that adapts and / or responds to user viewing. For example, in some embodiments, the display system is used in a user control system to provide a user with a display view of a work site or environment while the user operates one or more other devices (such as a control input device of a remote operation system). As described in more detail herein, embodiments provide a display system that moves a display unit for viewing in response to the user's movement to adapt to and / or follow the user's head movement. In various examples, the display system may include a display unit that displays an image and is mechanically grounded, thereby allowing the user to manipulate other devices (such as hand-operated and / or foot-operated control input devices) while viewing the output of the display unit. Some embodiments may provide various views of a work site via a display unit via a camera image responsive to user input provided via the display system.

[0044] Features of the described display system include a support linkage that provides multiple degrees of freedom for the display unit. The support linkage includes a first (e.g., vertical) support having a first portion and a second portion, and the second portion is linearly translatable along a vertical axis relative to the first portion (e.g., a retractable portion). The support linkage includes a second (e.g., horizontal) support rigidly coupled to the vertical support and having a first portion and a second portion, and the first portion is rigidly coupled to the second portion of the vertical member, and the second portion is linearly translatable along a horizontal axis relative to the first portion (e.g., a retractable portion). In some embodiments, the support linkage includes a tilt member rotatably coupled to a distal end of the second support, the tilt member being rotatable about a third axis with a third degree of freedom. In some embodiments, the display unit is coupled to the tilt member. In some embodiments, the display unit is movable relative to the tilt member with a fourth degree of freedom, for example, a rotational movement about a fourth (yaw) axis. An actuator such as a motor is coupled to one or more of these components to allow the control system to move the components and thereby move the display unit with a particular degree of freedom in the workspace. The user input device on the display unit allows the user to provide user input to direct the movement of the display unit (e.g., changes in position and orientation). The display system can be used in conjunction with a control input device that provides control signals to a manipulator system in a teleoperation system to control manipulator system functions, such as movement of manipulator instruments and other functions.

[0045] The features described provide various benefits. For example, the support linkage and actuator allow the display system to change the position and orientation of the display unit based on the received user input, for example, to adapt to changes in the angle and movement of the user's head and eyes, or in response to commands input by the user's hands, head, eyes, etc. For example, the display unit can rotate around a defined pivot axis that can coincide with the user's eyes or coincide with the pivot axis of the user's neck, thereby providing movement of the display unit that is aligned with the user's natural body movement. These features allow the user to easily reorient the display unit during a procedure to obtain different comfortable viewing angles and reduce the physical constraints of using the display unit, thereby reducing user fatigue in associated procedures. The movement of the display unit with the provided tilt, horizontal and vertical degrees of freedom (e.g., providing movement around a defined pivot axis and yaw axis) allows the display unit to follow and remain close to the user's head and / or eyes during the user's head movement (e.g., the movement of the display unit mirrors or replicates the movement of the user's head and / or eyes), and / or maintain a physical connection between the user's forehead and the display unit. In some embodiments, this allows the display unit to follow the movements of the user's head and eyes without having to physically attach the display unit to the user's head, thereby avoiding user irritation and fatigue from such attachment.

[0046] In addition, the defined pivot axis of the display unit can be a virtual axis that is not necessarily limited to the physical axis of motion of the mechanical components of the display system. This allows the position of the defined pivot axis to be adjusted for various usage conditions and / or customized for a specific user, for example, to accommodate a specific user's height, arm reach, neck or head size, etc., to allow for greater comfort when operating the display system. In addition, sensors on the display unit (such as head sensors) allow the user to easily provide user input without using hands that may be manipulating other input devices (such as control input devices).

[0047] In addition, changes in the position and / or orientation of the display unit guided by user input can be used to modify the image display of the display unit. For example, the displayed image or user interface can be scrolled, tilted, translated, or scaled based on corresponding received user input to the display device, which also guides the display unit to perform similar or corresponding movements. In some embodiments, the function of the image capture device (or other apparatus or device) at the remote working site is manipulated based on the user input to the display unit, for example, the movement of the image capture device or other device functions, such as translation, tilt, and zoom. The head sensor on the display unit allows the user to provide such user input without having to interrupt or pause the remote operation process using other user input devices (such as control input devices operated by hands or feet).

[0048] Various terms including "linear," "center," "parallel," "orthogonal," "perpendicular," "aligned," "horizontal," "vertical," or specific units of measurement or other as used herein may be approximate, do not have to be exact, and may include typical engineering tolerances.

[0049] Some embodiments herein may relate to various apparatus and parts of apparatus in terms of their state in three-dimensional space. As used herein, the term "position" refers to the position of an object or a part of an object in three-dimensional space (e.g., three translational degrees of freedom along Cartesian x, y, z coordinates). As used herein, the term "orientation" refers to the rotational placement of an object or a part of an object (three rotational degrees of freedom-e.g., roll, pitch, and yaw around Cartesian X, Y, and Z axes). As used herein, the term "posture" refers to the position of an object or a part of an object on at least one translational degree of freedom and the orientation of the object or a part of the object on at least one rotational degree of freedom (up to a total of six degrees of freedom).

[0050] As referred to herein, a mechanically grounded unit or device is constrained with respect to possible position and orientation motion in a larger work environment (e.g., an operating area or room). Moreover, such a unit is kinematically coupled to the ground (e.g., mechanically supported by a console, support, or other object attached to the ground). As used herein, the term "proximal" refers to an element that is close to (or closer to) a mechanical ground, and the term "distal" refers to an element that is far from (or farther from) a mechanical ground.

[0051] The various features described herein can be used to enhance the control capabilities of a computer-assisted teleoperation system. In some embodiments, the teleoperation system includes one or more control input devices (e.g., one, two, three, or more) for providing manipulator instrument control to a user of the system during various procedures (surgery, procedures in extreme environments, or other procedures), instructions, monitoring, supervision, and other feedback.

[0052] Figure 1 is a schematic diagram of an example teleoperated surgical system 100 that may be used with one or more features disclosed herein. As shown, the teleoperated surgical system 100 may include a user control system (eg, a console or workstation) 102 and a manipulator system 104.

[0053] In this example, user control system 102 includes one or more control input devices that are contacted and manipulated by the user's hands, for example, one control input device for each hand. Figure 2 and 40 Some example embodiments of control input devices described in more detail below are shown. The control input device is supported by the user control system 102 and can be mechanically grounded. In some embodiments, an ergonomic support 110 (e.g., a front armrest) can be provided, on which the user 108 can rest his or her forearm while grasping the control input device. For example, the control input device can be positioned in a workspace disposed inwardly (away from the user 108) outside the support 110. In some examples, the user 108 can control the manipulator system 104 to perform surgical tasks at a work site near the manipulator system 104 during a surgical procedure by using the control input device.

[0054] The display unit 112 is included in the user control system 102. The display unit 112 can display images for viewing by the user 108. For example, the image can be displayed by a display device (such as one or more display screens, projectors, or other devices) in the display unit. The display unit 112 can be moved with various degrees of freedom to accommodate the user's viewing position and / or provide control functions, as described in more detail below. In an example of a remote operating system 100, the displayed image can depict a user's work position performing various tasks via the control of a control input device. In some examples, the image displayed by the display unit 112 can be received by the user control system 102 from one or more image capture devices arranged at a remote work position. In other examples, the image displayed by the display unit can be generated by the display unit (or by other connected devices or systems). In the example of a surgical procedure using the teleoperation system 100, the display unit 112 may display an image of a physical surgical site at a patient near the manipulator system 104, or a generated virtual representation of the surgical site, or a combination of the physical and virtual sites (e.g., augmented reality), and may display real or virtual instruments of the manipulator system 104 controlled by a control input device of the user control system 102. The display unit 112 may provide two-dimensional images and / or three-dimensional images of the surgical site, such as the end effector of the manipulator instrument 126. The three-dimensional images may provide three-dimensional depth cues to allow the user 108 to assess the relative depths of the instrument and the patient's anatomy, and use visual feedback to steer the manipulator instrument 126 using the control input device to precisely aim and control features.

[0055] When using the user control system 102, the user 108 can sit in a chair or other support in front of the user control system 102, position his or her eyes in front of the display unit 112 (and / or move the display unit 112 to the position / orientation of his or her eyes), grasp and manipulate control input devices (e.g., one in each hand), and rest his or her forearms on the ergonomic support 110 as desired. In some embodiments, the user can stand at the user control system or assume other postures, and the display unit 112 and control input devices can be adjusted in position (height, depth, etc.) to accommodate various user body postures and individual user preferences.

[0056] The teleoperation system 100 may also include a manipulator system 104 that may be controlled by the user control system 102. In this example, the manipulator system 104 is mounted to or near an operating table 106 (e.g., a table, bed, or other support) on which a patient may be positioned. A working site 130 may be provided on the operating table 106, for example, on or in a patient, a simulated patient, or a model, etc. (not shown). In other embodiments, the working site may be a different site or area at which a manipulator system is to be used to perform a task. The teleoperation manipulator system 104 includes a plurality of manipulator arms 120, each manipulator arm 120 coupled to an instrument assembly 122. The instrument assembly 122 may include, for example, an instrument 126. In some examples, the instrument 126 may include a surgical instrument. In some embodiments, the surgical instrument may include, at its distal end, a surgical end effector, for example, for treating tissue of a patient.

[0057] In various embodiments, one or more of the instruments 126 can include an image capture device (e.g., a camera), such as a camera included in the endoscope assembly 124, which can provide a captured image of a portion of the working site (e.g., an area or portion of a patient where a surgical task is being performed). In some embodiments, the captured image can be sent to the display unit 112 of the user control system 102 for output. In some embodiments, a display device 128 can be included on the manipulator system 104 to display the captured image and / or other information related to the procedure performed at the working site. In some embodiments, the image capture device can move with multiple degrees of freedom, for example based on translation and rotation of the portion of the manipulator arm 120 holding the camera.

[0058] In an example of a surgical procedure using the teleoperation system 100, the manipulator system 104 can be positioned close to a patient (or a simulated patient) for performing the surgical procedure, where it can remain stationary until a particular surgical procedure or stage of the procedure is completed. In various embodiments, the user control system 102 can be positioned in various locations relative to the manipulator system 104, for example, in a sterile surgical field close to the manipulator system 104 and the working position 130, in the same room as the manipulator system 104 and the working position 130, or remote from the manipulator system 104 and the working position 130 (e.g., in a different room, building, or other geographic location). The number of teleoperated instruments 126 used at one time and / or the number of arms 120 used in the manipulator system 104 can depend on the procedure to be performed and the space constraints within the available area, as well as other factors.

[0059] In some embodiments, the manipulator arm 120 and / or instrument assembly 122 can be controlled to move and articulate the instrument 126 in response to manipulation of the control input device by the user 108 so that the user 108 can perform a task at the working site 130. For example, the user can conduct a surgical procedure at an internal surgical site through a minimally invasive surgical hole. In some embodiments, one or more actuators coupled to the manipulator arm 120 and / or instrument assembly 122 can output forces to cause a link or other portion of the arm 120 and / or instrument 126 to move in a particular degree of freedom in response to a control signal received from the control input device.

[0060] Some 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, the controlled movement of the manipulator system 104 is controllably separated (disconnected) from the control input device in a disconnected configuration, such that movement and other manipulations of the control input device do not cause movement of the manipulator system 104. In a control mode (e.g., a follow mode) of the teleoperation system 100, the movement of the manipulator system 104 may be controllably coupled (connected) to the control input device, such that movement and other manipulations of the control input device cause movement of the manipulator system 104, such as during a surgical procedure. For example, each manipulator arm 120 and the teleoperated instrument assembly 122 controlled by the arm 120 may be controllably coupled to and separated from one or more control input devices to allow control of movement and / or other functions of the arm.

[0061] In some examples, control of the manipulator system enables a user to guide a surgical procedure at an internal surgical site through a minimally invasive surgical port. For example, one or more actuators coupled to the manipulator arm 120 can output a force to cause a link or other portion of the arm to move with a particular degree of freedom in response to a control signal provided by a control input device. The control input device can be used in a room (e.g., an operating room) that also houses the manipulator system and the work site (e.g., within or outside a sterile surgical field near an operating table), or can be located further away from the manipulator system, for example, in a different room, building, or other location from the manipulator system.

[0062] In some embodiments, the control system ( Figure 1104 ). The control system 106 may include a plurality of control input devices (not shown) provided in the user control system 102 and / or provided external to the user control system 102 (e.g., in communication with the user control system). When the user 108 moves the control input device(s), the sensed spatial information and the sensed orientation information are provided to the control system based on the movement of the control input device. Other user inputs are also provided to the control system, such as user inputs received at the display unit 112 and / or activation of other input devices. The control system may provide control signals to the manipulator system 104 to control the movement of the arm 120, the instrument assembly 122, and the instrument 126 based on the received information and user input. For example, the control system may map the sensed spatial motion data and the sensed orientation data that spatially describe the control input device to a common reference frame. The control system may process the mapped data and generate commands based on the movement of one or more control input devices (e.g., changes in position and / or orientation) to appropriately position the instrument 126 (e.g., end effector or tip) of the manipulator system 104. The control system can use a remotely operated servo control system to convert and transmit the sensed motion of the control input device to the associated arm 120 of the manipulator system 104 via control commands, so that the user 108 can manipulate the instrument 126 of the manipulator system 104. The control system can similarly generate commands based on the activation or manipulation of the input controls of the control input device to perform other functions of the manipulator system 104 and / or the instrument 126, for example, moving the jaws of the instrument end effector, activating a cutting tool or outputting energy, activating suction or irrigation functions, etc. In some embodiments, the control system can similarly generate commands based on the activation or manipulation of the input controls of the display unit 112 to perform other functions of the manipulator system 104 and / or the instrument 126. In one embodiment, the control system supports one or more wireless communication protocols, such as Bluetooth, IrDA, HomeRF, IEEE 802.11, DECT, and wireless telemetry. The following is about Fig.34 Describe some examples of control systems.

[0063] In some embodiments, the display unit 112 can be operated by the user in conjunction with the operation of one or more non-grounded control input devices, which are control input devices that are not kinematically grounded, for example, control input devices that are held by the user's hand without an attached support. For example, the user can sit or stand and view the image in the display unit 112 while grasping and manipulating the non-grounded control input device in his or her hand. Some examples of non-grounded control input devices are disclosed in U.S. Patent No. 8,521,331 B2 (issued on August 27, 2013, entitled "Patient-side Surgeon Interface For a Minimally Invasive, Teleoperated Surgical Instrument"), which is incorporated herein by reference in its entirety. In some embodiments, the user can use the display unit 112 positioned near the working site so that the user can operate a manual surgical instrument (such as a laparoscopic instrument or a stapler) at the working site while viewing the image displayed by the display unit 112.

[0064] In some embodiments, the teleoperation system 100 may also include one or more additional input systems that allow additional users to provide input to the system. For example, a second (or third, etc.) display unit 112 may be used by an additional user to monitor and / or assist with the program. A second user control system 102 may be provided for use by a second user (e.g., for training), to replace control of the manipulator system 104 or to provide simultaneous control of the manipulator system 104, etc. Additional non-grounded control input devices, carts with display devices, and other components may be used in the teleoperation system 100.

[0065] In some embodiments, a virtual representation of the manipulator system 104, such as presented in a graphical training simulation provided by a computing device coupled to the teleoperation system 100, may be controlled instead of the physical manipulator system 104. For example, a user may manipulate a control input device to control a displayed representation of an end effector in a simulated virtual space, similarly as if the end effector were a physical object coupled to a physical manipulator system. Some embodiments may use the control input device in training, for example, to demonstrate the use of an instrument and control of a user control system including the control input device.

[0066] In some embodiments, non-remote operating systems may also use one or more features of the user control system and / or display unit 112 as described herein. For example, various types of control systems and devices, peripherals, etc. may be used with the display unit system described. In some examples, the display unit 112 may be used in some non-remote operating systems, for example, to view a remote workstation or physical scene where the user does not manipulate the manipulator system, to view a displayed virtual environment that is not associated with a physical manipulator system or physical workstation, etc. In some of these systems, the user control system 102 and the manipulator system 104 may be omitted, and the display unit 112 may be used in a standalone display system.

[0067] Some embodiments may include remotely operating one or more components of a medical system, such as the da Surgical system (e.g., Model IS3000 or IS4000, orda Surgical system sales). The features disclosed herein can be implemented in a variety of ways, including in embodiments at least partially computer controlled, controlled via electronic control signals, manually controlled via direct physical manipulation, etc. The embodiments of the surgical system are merely examples and should not be considered to limit the scope of the features disclosed herein. For example, different types of teleoperation systems with manipulator systems at the working site can utilize the features described herein. Other non-teleoperation systems can also use one or more of the described features, such as various types of control systems and devices, peripherals, etc.

[0068] Figure 2 is a front view of an example user control system 200 including a control input device and a display system according to some embodiments. For example, the user control system 200 may be similar to the one for Figure 1 A user control system 102 is described.

[0069] The user control system 200 includes a display unit 204 that can display images, such as during a program implemented by the remote operation system 100, similarly as for Figure 1The display unit 112 of FIG. 10 may be described as an image captured by an image capture device and depict a physical work site performing a task (such as a surgical site displayed during a surgical procedure), or may depict a representation of a generated virtual work site. The display unit 204 may also display other information, such as a graphical user interface allowing selection of commands and functions, status information, alarms and warnings, notifications, etc. Such information may be displayed in conjunction with (e.g., superimposed on) a view of the work site, or displayed without a view of the work site.

[0070] In the example shown, the display unit 204 includes two viewports 205. The user can position the user's head so that the user's eyes are aligned with the viewport 205 to view the image displayed by the display unit 204. In addition, as described herein, the display unit 204 is movable (translatable and / or rotatable) within a defined workspace based on user input, so that the user can align the viewport of the display unit and the viewing angle of the display unit with the user's eyes. In some examples, one or more display screens that display images to the viewing user can be provided behind the viewport. In some embodiments, one or more display screens or other display devices can be used instead of the viewport 205. The display unit 204 is connected to a support mechanism and can be moved with one or more degrees of freedom, examples of which are described in more detail below.

[0071] In some embodiments, the user control system 200 includes one or more input control devices to allow the user to adjust or otherwise manipulate the position and / or orientation of the display unit 204 relative to other parts of the user control system 200 (e.g., relative to the control input devices 210 and 212, described below). In this example, the hand input device 206A is positioned on the left side of the display unit 204, and the hand input device 206B is positioned on the right side of the display unit 204. In some embodiments, the hand input devices 206A and 206B can receive user input to cause the display unit 204 to change its orientation and / or position, for example, to provide ergonomic adjustments for more user comfort. Such hand input devices can be alternatively or additionally positioned at other areas or components of the user control system 200. Examples of hand input devices 206A and 206B are described in more detail below.

[0072] In some embodiments, the head input device 208 is positioned on a user-facing side of the display unit 204. The head input device 208 can sense the user's head (e.g., forehead) (e.g., sense the presence of and / or contact with the user's head) as a user input to cause the display unit 204 to move according to the user input, for example, to change the orientation and / or position of the display unit 204. Additionally or alternatively, the control system can command the user to control one or more components, state changes, or processes of the control system 102 and / or the manipulator system 104 based on the user input to the head input device 208. Examples of the head input device 208 are described in more detail below.

[0073] Two control input devices 210 and 212 are provided in the user control system 200 for user manipulation. For example, the user can rest the user's forearms on the ergonomic support 214 while grasping parts of the two control input devices 210 and 212, with one control input device in each hand (for example, the control input devices 210 and 212 can be moved to a position above the support 214 and / or the support 214 can be moved to a position below the control input devices 210 and 212). In some embodiments, the ergonomic support 214 can be adjustable in height for different users. The user also positions the user's head as described above to view the display unit 204 when manipulating the control input devices 210 and 212. The control input device can include one or more of any number of various input devices that can be manipulated by the user, such as a kinematically linked (mechanically grounded) handle, a joystick, a trackball, a data glove, a trigger gun, a hand controller, a voice recognition device, a touch screen, etc.

[0074] In some embodiments, each control input device 210 and 212 may include a grip portion that can move with multiple degrees of freedom. For example, each control input device 210 and 212 may control Figure 11. The motion and function of the associated arm assembly 120 of the manipulator system 104 shown. In some examples, the control input device 210 can be moved with multiple degrees of freedom to move one corresponding end effector 126 of the manipulator system 104 with corresponding degrees of freedom, and the control input device 212 can be moved with multiple degrees of freedom to move different corresponding end effectors 126 of the manipulator system 104 with corresponding degrees of freedom. In some embodiments, the control input devices 210 and 212 are provided with the same degrees of freedom as the instruments 126 of the manipulator system to provide the operator with a telepresence (e.g., the perception that the control input device is integrated with the instrument) so that the operator has a strong sense of directly controlling the instrument as if present at the work site. In other embodiments, the control input devices 210 and 212 can have more or fewer degrees of freedom than the associated instruments 126. In some embodiments, the control input device is a hand input device that moves in all six Cartesian degrees of freedom and may also include an actuatable grip portion (e.g., a handle) for actuating a manipulator instrument (e.g., for closing jaws, applying potentials to electrodes, delivering drug treatments, etc.). In some embodiments, gripping functionality (such as moving two grip portions of the control input device together and apart during clamp movements) may provide additional mechanical degrees of freedom (i.e., grip DOF). In some example embodiments, the control input devices 210 and 212 may provide control of one or more surgical instruments 126 in a surgical environment or proxy surgical instruments in a virtual environment. About Fig.32 Examples of some implementations of controlling an input device are described.

[0075] Some embodiments of the user control system 200 may include one or more foot controls 220 positioned below the control input devices 210 and 212. The foot control 220 may be depressed, slid, and / or otherwise manipulated by the user's foot to input various commands to the control system of the teleoperation system as the user operates the user control system 200. In some embodiments, the foot control 220 or other controls may be considered a "control input device" that may control one or more functions or operations of the manipulator system 104.

[0076] In some embodiments, one or more user presence sensors may be positioned at one or more locations of the user control system 200 to detect the presence of a user operating the user control system 200 and / or located next to or near the user control system 200. For example, a user presence sensor may be positioned on the display unit 204 and sense the presence of a user's head aligned with the viewport 205. For example, an optical sensor may be used for the presence sensor, where the optical sensor includes an emitter and a detector, and the detector senses the interruption of a light beam when the user's head is positioned to view the output of the display unit 204 and the user is in a suitable position to use the control input devices 210 and 212. In some embodiments, the hand input device 206 and / or the head input device 208 may be used to sense the user's presence. Additional or alternative types of presence sensors may be used in various embodiments.

[0077] Figure 3 is a perspective view of an example display system 300 according to some implementations, Figure 4 is a front view of an example display system 300 according to some implementations, and Figure 5 300 is a side view of an example display system 300 according to some embodiments. In some examples, the display system 300 can be used to control a user control system of a remote operation system (e.g., Figure 1 The system may be used in a user control system 102 of a remotely operated surgical system 100, or may be used in other systems or as a stand-alone system, for example, to allow a user to view a work site or other physical site, a displayed virtual environment, etc.

[0078] The display system 300 includes a base support 302, an arm support 304, and a display unit 306. As described in more detail below, the display unit 306 is provided with multiple degrees of freedom of movement provided by a support linkage including the base support 302, the arm support 304 coupled to the base support 302, and a tilt member 324 (described below) coupled to the arm support 304. The display unit 306 is coupled to the tilt member.

[0079] In this example, the base support 302 is a vertical member that is mechanically grounded (coupled to the ground). For example, the base support 302 can be mechanically coupled to a support structure 310 that is coupled to the ground (e.g., rests on the ground) to provide stability to the base support 302. The base support 302 includes a first base portion 312 and a second base portion 314. The first base portion 312 is a proximal portion of the base support 302 that can be mechanically grounded, and the second base portion 314 is a distal portion of the base support 302 that is linearly coupled to the first base portion 312 so that the second base portion 314 can translate with a linear degree of freedom relative to the first base portion 312. In some examples, the first base portion 312 and the second arm portion 314 are telescopically coupled, for example, the first base portion 312 is a first telescopic base portion and the second base portion 314 is a second telescopic base portion, such that one of the portions 312 or 314 is configured as a tube or sleeve having a hollow interior through which the other of the portions 314 or 312 extends. Figure 3-Figure 5 In an example of the present invention, the second base portion 314 can linearly translate through the interior of the first base portion 312 with a linear degree of freedom 316. The linear translation of the second base portion 314 relative to the first base portion 312 can be driven by one or more actuators (e.g., motors), as described in more detail below. Other embodiments can use different configurations. For example, the first base portion 312 can extend through the interior of the second base portion 314 so that the second base portion 314 can linearly translate relative to the first base portion 312. In other examples, the base portions 312 and 314 can be positioned adjacent to each other along their vertical lengths to allow linear translation.

[0080] The arm support 304 is a horizontal member that is mechanically coupled to the base support 302. The arm support 304 can include a first arm portion 318 and a second arm portion 320. The first arm portion 318 is a proximal portion of the arm support 304 that is rigidly coupled to the second base portion 314 of the base support 302, and the second arm portion 320 is a distal portion of the arm support 304 that is linearly coupled to the first arm portion 318 such that the second arm portion 320 can linearly translate with a linear degree of freedom relative to the first arm portion 318. In some examples, the first arm portion 318 and the second arm portion 320 are telescopically coupled, for example, the first arm portion 318 is a first telescopic arm portion and the second arm portion 320 is a second telescopic arm portion such that one of the portions 318 or 320 is configured as a tube or sleeve having a hollow interior through which the other of the portions 320 or 318 extends. Figure 3-Figure 5In an example of the embodiment of the present invention, the second arm portion 320 can linearly translate through the interior of the first arm portion 318 with a linear degree of freedom 322. The linear translation of the second arm portion 320 relative to the first arm portion 318 can be driven by one or more actuators (e.g., motors), as described in more detail below. Other embodiments can use different configurations, for example, the first arm portion 318 can extend through the interior of the second arm portion 320 so that the second arm portion 320 can linearly translate relative to the first arm portion 318. In other examples, the arm portions 318 and 320 can be positioned adjacent to each other along their vertical lengths to allow for linear translation.

[0081] In some embodiments, the first arm portion 318 and the second base portion 314 can be considered a single piece, for example, an intermediate support or intermediate portion coupled between the first base portion 312 and the second arm portion 320. The intermediate support includes a horizontal first arm portion 318 rigidly coupled to a vertical second base portion 314, and the first arm portion 318 and the second base portion 314 are oriented orthogonal to each other. The second arm portion 320 can translate horizontally with a degree of freedom 322 relative to the intermediate support, and the intermediate support and the second arm portion 320 can translate vertically with a degree of freedom 316 relative to the first base portion 312.

[0082] In some examples as shown, the arm support 304 extends along a horizontal axis orthogonal to the vertical axis along which the base support 302 extends. In some examples, the base support 302 and the arm support 304 are fixed in orientation relative to each other, for example, they translate but do not change orientation relative to each other. In some examples, the arm support 304 extends along an axis above a user operating the display unit, and the vertical axis extending through the base support 302 extends through the first arm portion 318 of the arm support 302. In other embodiments, the arm support 304 can extend at other heights and / or configurations, for example, below the user's head or body, at the height of the user's head, on the user's back, and yoke around the user, etc.

[0083] Reducing vibrations in the supports and components of the display system 300 can provide a smoother experience for a user operating the display unit 306. Some embodiments may include one or more components in the base support 302 and / or the arm support 304 to provide damping that can reduce vibrations in the support linkage that includes these supports 302 and 304. For example, a portion of the lever arm may be rigidly coupled internally to the arm support 304, and the arm support 304 may tap or compress a high damping material provided in the base support 302 to reduce vibrations in the arm support 304. For example, a lever arm may be used A material, a viscous material, or other material having a damping coefficient above a certain threshold. Similar damping components may be provided between the display unit 306 and the tilt member 324, between the tilt member 324 and the arm support 302, and the like.

[0084] The display unit 306 is mechanically coupled to the arm support 304. The display unit 306 can move in two linear degrees of freedom provided by the linear translation of the second base portion 314 and the second arm portion 320. In some embodiments, these linear degrees of freedom can be provided in a vertical plane. In some examples, as shown, the vertical plane can be defined by the base support 302 and the arm support 304.

[0085] The display unit 306 includes a display device that can display digital images, such as one or more display screens, projectors, or other display devices. Figure 3-Figure 5 As shown, the display unit 306 includes two viewports 323, and the display device is provided behind the viewport or included in the viewport. In some embodiments, one or more display screens or other display devices can be positioned on the display unit 306 instead of the viewport 323.

[0086] The display unit 306 is rotationally coupled to the arm support 304 via the tilt member 324. Figure 3-Figure 5 In the example of FIG. 3 , the tilt member 324 is rotationally coupled to the second arm portion 320 of the arm support 304 at a first end by a rotation coupling that provides rotational movement of the tilt member 324 and the display unit 306 relative to the second arm portion 320 about a tilt axis 326. In some embodiments, the tilt axis 326 is oriented orthogonally to the linear degrees of freedom provided to the display unit 306 by the base support 302 and the arm support 304. For example, the tilt member 324 can provide the display unit 306 with a rotational degree of freedom in a vertical plane that is the same as or parallel to the vertical plane in which the degrees of freedom 316 and 322 are provided by the base support 302 and the arm support 304. In some embodiments, the tilt axis 326 is orthogonal to the plane defined by the degrees of freedom 316 and 322. In some embodiments, the tilt axis 326 is positioned above the display device in the display unit 306. In some embodiments, when the user operates the display unit 306, the tilt axis 326 is positioned above the position of the user's head. In other embodiments, the tilt axis can be positioned closer to the user, e.g., lower and closer to the pivot axis of the user's neck, as described below. In some examples, arm support 304 can have two branches extending on either side of the user's head, with tilt axis 326 extending between the ends of the two branches and aligned with a defined pivot point in the user's head or neck.

[0087] In this example, an extension of the tilt member 324 extends from the tilt axis 326 toward the base support 302, and the display unit 306 is coupled to the second end of the tilt member at the extension. The rotational movement of the tilt member 324 and the display unit 306 about the tilt axis 326 can be driven by one or more actuators (e.g., motors), as described in more detail below. In some embodiments, the base support 302, the arm support 304, and the tilt member 324 can be considered a support linkage with the display unit 306 coupled at the distal end of the support linkage. For example, the motor(s) can be controlled by a control signal from a control circuit (e.g., a control system) to move the display unit 306 about the tilt axis 326 to a specific orientation with the tilt degree of freedom 327.

[0088] In some embodiments, the display unit 306 is rotationally coupled to the tilt member 324 and can rotate about a yaw axis (e.g., a lateral rotation axis) 330. For example, this can be a lateral or left-right rotation from the viewpoint of a user viewing an image of the display unit 306 via the viewport 323. Figure 3-Figure 5 In the example of , the display unit 306 is coupled to the tilt member by a rotation mechanism, and in some embodiments, the rotation mechanism may include a track mechanism. For example, in some embodiments, the track mechanism includes an arcuate track 328, and the arcuate track 328 is coupled to the display unit 306. The track 328 slidably engages a groove member coupled to the tilt member 324, thereby allowing the display unit 306 to rotate about the yaw axis 330 by moving the arcuate track 328 through the groove of the groove member. In some embodiments, the arcuate track is coupled to the tilt member 324, and the groove member is coupled to the display unit 306, and the groove member engages and slides along the length of the arcuate track to allow rotational movement of the display unit 306 about the yaw axis 330. In some embodiments, the groove member can be approximately as long as the width of the tilt member 324 and / or include at least a portion of a ring through which the arcuate track 328 slides.

[0089] In some embodiments, the arc track 328 is an arc track that slidably engages a groove member as described. In some embodiments, the arc track 328 can be an arc cam follower that engages a cam roller. For example, the cam roller can be rotatably coupled to the display unit 306 and, in various embodiments, have an axis of rotation that is orthogonal to or parallel to the yaw axis 330. For example, the cam roller can be cylindrical and can roll along an arc surface of a cam follower that is rigidly coupled to the tilt member 324. For example, the cam roller can be held against the cam follower by a wall or ridge of the cam follower. In some embodiments, the cam follower can be rigidly coupled to the display unit 306, and the cam roller can be rotatably coupled to the tilt member 324.

[0090] The curvature (e.g., radius) of the arcuate track 328 and / or the groove member is selected to provide the yaw axis 330 at a specific distance from the user-facing side of the display unit 306 and / or from the tilt axis 326. For example, in some embodiments, this can be a specific horizontal distance parallel to the degrees of freedom 322 of the arm portion 320. For example, the yaw axis 330 can be provided at a specific distance from the display unit 306 so that it substantially intersects with a defined (e.g., virtual or software-defined) neck pivot axis corresponding to a pivot axis in the user's neck, as described below. In some embodiments, the defined neck pivot axis can be used as a reference for the movement of the display unit 306. In the described embodiment, the angle between the yaw axis 330 and the vertical axis (e.g., parallel to the degrees of freedom 316) changes based on the orientation of the tilt member 324 about the tilt axis 326. The yaw movement of the display unit 306 about the yaw axis 330 can be driven by one or more actuators (e.g., motors) using a drive mechanism such as a gear mechanism, a capstan drive mechanism, etc. An example of a winch drive mechanism is described below with respect to Fig. 22 Described in more detail. For example, the drive mechanism may include a capstan drum 329 coupled to a capstan pulley driven by a motor.

[0091] In some embodiments, other couplings or bearings can be used to provide rotational movement of the display unit 306 about the yaw axis 330 relative to the tilt member 324 and the arm support 304. For example, a rotational joint similar to the rotational coupling between the tilt member 324 and the arm support 304 can be used to couple the display unit 306 to the tilt member 324. In another example, a vertically aligned track mechanism (e.g., similar to a vertically aligned track mechanism) that rotates about a horizontal axis can be provided. Figure 23-Figure 25 Components 2324 and 2330 of an embodiment of the present invention can provide a tilt degree of freedom to the display unit 306, and the rotational coupling can provide a yaw degree of freedom to the display unit 306.

[0092] The display system 300 thus provides the display unit 306 with vertical linear degrees of freedom 316, horizontal linear degrees of freedom 322, rotational (tilt) degrees of freedom 327, and rotational yaw degrees of freedom 331. For example, the vertical and horizontal degrees of freedom allow the display unit 306 to be moved to any position within an allowed workspace (e.g., in a vertical plane), and the tilt degree of freedom allows the display unit to be moved to a specific orientation within its range of motion (e.g., within a vertical plane or a parallel vertical plane).

[0093] The combination of coordinated movement of the components of the display system 300 in at least two of these degrees of freedom allows the display unit 306 to be positioned at various positions and orientations in its workspace, e.g., translated and / or rotated around the user, to facilitate a customized viewing experience for the user using the display unit. Movement of the display unit 306 in the tilt, horizontal, and / or vertical degrees of freedom allows the display unit 306 to remain close to the user's head and eyes during movement of the user's head, and / or maintain a physical connection between the user's head (e.g., forehead) and the display unit 306.

[0094] For example, the display unit 306 can be positioned (e.g., translatable and / or rotatable) in its workspace so that the user's eyes are aligned with the viewport of the display unit. In addition, the display unit 306 can be rotated in physical space around a defined eye pivot axis corresponding to (e.g., coinciding with) the eye axis of, for example, the two eyes of the user to allow the user's desired vertical (e.g., up and down) eye viewing angle. The display unit can also move around a yaw axis 330 to allow the user's desired yaw (e.g., left and right) viewing angle or orientation. These rotations allow the display unit 306 to be comfortably oriented so that the user views the image through the viewport.

[0095] The degrees of freedom of the display system also or alternatively allow the display system 300 to provide movement of the display unit 306 in physical space about different defined pivot axes, which can be positioned in any of a variety of locations in the workspace of the display unit 306 (examples described in more detail below). For example, the system 300 can provide movement of the display unit 306 in physical space that corresponds to movement of the user's head when operating the display system 300. The movement may include rotation about a defined neck pivot axis that roughly corresponds to a neck axis of the user's head at the user's neck. The rotation allows the display unit 306 to move in accordance with the user's head, which uses, for example, a head input device 342 to guide movement of the display unit 306. The following describes movement of the display unit about the neck pivot axis ( Figure 8-11 ) and the eye pivot axis ( Figure 12-14 ) for some examples of this movement.

[0096] In another example, the movement of the display unit 306 can include a rotation about a defined forehead pivot axis that generally corresponds to a forehead axis extending through the user's head at the user's forehead when the display unit 306 is oriented in a centered yaw rotation position about the yaw axis 330 as shown. In some embodiments, the forehead pivot axis corresponds to a forehead axis extending through a portion of an input device (e.g., head input device 342) of the display unit 306, where the portion is at or near a point of contact between the user's forehead and the input device. In some embodiments, the defined forehead pivot axis can be oriented parallel to the tilt axis 326, e.g., orthogonal to the linear degrees of freedom 316 and 322. The forehead pivot axis can alternatively be positioned to correspond to a different location or portion of the user's forehead or the display unit.

[0097] In another example, the movement of the display unit 306 can include a rotation about a defined hand input device pivot axis that generally corresponds to an axis of one or more hand input devices extending through the display unit 306 (examples described below). For example, the axis can extend through portions of both hand input devices 340a and 340b positioned on opposite (left and right) sides of the display unit 306 (e.g., the center of the grip). In some embodiments, the defined hand input device pivot axis can be oriented parallel to the tilt axis 326, for example, orthogonal to the linear degrees of freedom 316 and 322, similar to the neck, eye, and forehead pivot axes described above. The hand input device pivot axis can alternatively be positioned to correspond to different locations or portions of the display unit, for example, locations of different hand input devices. For example, the hand input device pivot axis provides a rotation axis about which the display unit 306 can be commanded to rotate by user manipulation of the hand input devices 340a and 340b and / or by user manipulation of other user input devices (such as the head input device 342, the control input devices 210 and 212, etc.).

[0098] In another example, the movement of the display unit 306 in its workspace may include linear movement, for example based on linear translation in the vertical linear degree of freedom 316 and the horizontal linear degree of freedom 322, without rotational movement in the pitch and / or yaw degrees of freedom 327 and / or 331. In another example, the movement may include both linear and rotational movement. For example, the display unit 306 may move linearly and then rotationally in its workspace, and / or vice versa.

[0099] During rotation of the display unit 306 about the defined pivot axis, movement of the base support 302 in the vertical degree of freedom 316 and / or movement of the arm support 304 in the horizontal degree of freedom 322 can have a change in direction without a change in direction in the rotation of the display unit about the defined pivot axis. For example, the arm support 304 can reverse direction when the display unit is rotated from a fully upward position to a fully downward position. Thus, in some embodiments, it is possible for the base support or the arm support to end up in the same position when the display unit has been rotated about the defined pivot axis from a first orientation to a second orientation, with the supports moving back and forth as the display unit transitions between the two orientations.

[0100] The display unit 306 may include input devices that allow a user to provide input to manipulate the orientation and / or position of the display unit 306 in space, and / or manipulate other functions or components of the display system 300 and / or a larger system (e.g., a teleoperation system).

[0101] For example, with Figure 2 Described (in Figure 2 A hand input device 340 similar to that shown as 206 in FIG. 3 may be provided on the display unit 306. For example, the hand input device 340a is positioned on the left side of the display unit 306, and the hand input device 340b is positioned on the right side of the display unit 306, or may be positioned on any surface of the display unit 306. The hand input devices 340a and 340b may be any of various types of user input devices (e.g., buttons, touch pads, force sensors, joysticks, knobs, trackballs, keyboards, etc.) that are manipulated by a user's hand to provide a user hand input to the hand input device 340. The hand input device 340 outputs a control signal to the display system 300 based on the user hand input. The control signal may be used to cause the display unit 306 to change its orientation and / or position in space. For example, the control system controls the actuators of the display system 300 to move the base portion 314 in linear degrees of freedom 316, the arm portion 320 in linear degrees of freedom 322, the tilt member 324 in rotational degrees of freedom 327, and / or the display unit 306 in rotational degrees of freedom 331 to cause the display unit 306 to move in response to the sensed user hand input. The sensed user hand input can also be used to control other functions of the display system 300 and / or a larger system (e.g., Figure 1 The function of the remote operation system 100).

[0102] The display unit 306 may include Figure 2 Described (in Figure 2208). In this example, the head input device 342 is positioned on a surface of the display unit 306 that faces the user's head during operation of the display unit 306. For example, the head input device 342 may include one or more sensors that sense user head input, which is received as a command to cause the display unit 306 to change its position and / or orientation in space. In some embodiments, sensing the user head input may include sensing the presence of the user's head or a portion of the head (e.g., forehead) or contact between the user's head or a portion of the head (e.g., forehead) and the head input device 342. In some examples, the one or more sensors may include any of various types of sensors, such as a resistive sensor, a capacitive sensor, a force sensor, an optical sensor, etc.

[0103] The orientation and / or position of the display unit 306 can be changed by the display system 300 based on a user head input to the head input device 342. For example, the sensed user input is provided to a control system that controls an actuator of the display system 300 to move the base portion 314 in a linear degree of freedom 316, to move the arm portion 320 in a linear degree of freedom 322, to move the tilt member 324 in a rotational degree of freedom 327, and / or to move the display unit 306 in a rotational degree of freedom 331 to cause the display unit 306 to move as commanded by the sensed user head input (e.g., in accordance with the command of the sensed user head input). For example, the sensed head input can be used to rotate the display unit 306 about a defined pivot axis (e.g., a neck pivot axis or other pivot axis as described herein). In some embodiments, the sensed head input can be used additionally or alternatively to rotate the display unit 306 about a yaw axis 330. The sensed user head input can also be used to control the display system 300 and / or a larger system (e.g., Figure 1 Thus, in some embodiments, a user can move his or her head to provide input to an input device to control the display unit 306 to be moved by the display system in accordance with the movement of the head, thereby allowing the display unit to follow the movement of the user's head and changes in viewing angle, for example, without having to attach the display unit to the user's head and without requiring the user to physically move the display unit. In some embodiments, moving the user's head away from the display unit 306 (e.g., to "pull" the display unit 306 toward the user who is moving backwards) can be sensed as movement in a direction away from the head input device 342 or away from the display unit 306 (e.g., sensed via an optical sensor or other type of sensor), or as a decrease in force on the head input device 342, which causes the display system to move the display unit to follow the user's head via control of an actuator.

[0104] In some embodiments, the display unit 306 can additionally or alternatively move in one or more of the described degrees of freedom in response to receiving user input from other input devices of the display system 300 or other connected systems. For example, additional hand input devices such as Figure 2 The input device may be coupled to a support surface that is coupled to the base support 302, to the ergonomic support 214, etc. In some embodiments, user input received at the foot control 220 or other type of input device may be used to move the display unit 306 in one or more of its degrees of freedom.

[0105] In some embodiments, the image displayed by the display unit 306 and / or other controlled devices is changed and manipulated based on sensed movement of the display unit 306, such as about a defined pivot axis in the working space of the display unit, etc. For example, up and down movement of the display unit about a defined neck pivot axis can modify the displayed image or view in a corresponding direction.

[0106] In some embodiments of the display system, the display unit 306 can rotate about the yaw axis 330 with a degree of freedom 331, and one or more of the other degrees of freedom 316, 322, and / or 327 are omitted from the display system 300. For example, the display unit 306 can be rotated about the yaw axis 330 (e.g., by actuator(s) and / or manually by a user), and the display unit 306 can be manually positioned higher and / or lower (e.g., by actuator(s) and / or manually by a user), for example, using the base support 302 or other mechanism, with the horizontal degree of freedom 322 and / or the tilt degree of freedom 327 omitted.

[0107] In some example embodiments, the control unit includes a first support, a second support coupled to the first support, and a display unit rotatably coupled to the second support. The display unit and the second support can be linearly translated along a first axis with a first degree of freedom relative to the first support, the display unit can be linearly translated along a second axis with a second degree of freedom relative to the first support and the second support, and the display unit can be rotated around a third axis with a third degree of freedom relative to the second support. In another example, a tilting member couples the display unit to the second support, and the tilting member can be rotated around a fourth axis relative to the tilting member.

[0108] Figure 6 is a side view of another example of a portion of a display system 600. The display system 600 includes similar components as the display system 300 described above.

[0109] exist Figure 6 In the example of FIG. 1 , the second arm portion 620 of the arm support 604 includes a distal portion 623 that is larger than the distal portion 623. Figure 3-Figure 5 The distal portion of the second arm portion 320 of the display system 300 extends vertically lower. The tilt axis 626 of the tilt member 624 is located at the end of the distal portion 622. In some embodiments, the extended distal portion 622 can allow the tilt axis 626 to be positioned lower than the tilt axis 326 of the display system 300 and closer to the defined (virtual or software defined) pivot axis about which the display unit is to rotate. For example, the defined pivot axis can be any of the example defined pivot axes herein, such as the eye pivot axis or the neck pivot axis of the user 650 operating the display unit 606, examples of which are with respect to Figure 8-11 Shown.

[0110] Providing a tilt axis 626 that is closer to the defined pivot axis may require less movement of components of the display system 600 to cause the display unit 606 to rotate about the defined pivot axis compared to a tilt axis that is positioned farther from the defined pivot axis. For example, less movement may be required for the second arm portion 620, the second base portion 614, and / or the tilt member 624, thereby allowing for a reduction in cost in some embodiments due to reduced component size, motor size, etc.

[0111] Figure 7 is a side view of yet another example of a portion of a display system 700. The display system 700 includes similar components to the display systems 300 and 600 described above.

[0112] exist Figure 7 In the example of FIG. 1 , the second arm portion 720 of the arm support 704 includes a distal portion 723 that is larger than the distal portion 723. Figure 3-Figure 5 The distal portion of the second arm portion 320 of the display system 300 extends vertically lower. The distal portion 722 includes an end that extends vertically downward and toward the base support 702 (e.g., away from the user position occupied by the user 750 when operating the display system). The tilt axis 726 is located at the end of the distal portion 722. Compared to the tilt axis 326 of the display system 300 and the tilt axis 626 of the display system 600, the position of the tilt axis 726 is further downward and further away from the user position.

[0113] The location of the tilt axis 726 can have advantages in some embodiments, for example, the end of the distal portion 723 can be farther away from the user 750, providing the user with a more open area for operating the display unit 706. In addition, this location can allow for a reduction in the maximum gravitational load on the joint of the tilt axis 726, and can also reduce the gravitational load of the display unit 706 in certain rotational positions about the tilt axis 726 (e.g., at higher tilt positions (e.g., horizontal and downward oriented viewing angles) where the display unit 706 may often be located during operation). For example, the location of the tilt axis 726 can be closer to a location directly above the center of gravity of the components including the display unit 706 and the track mechanism that couples the display unit 706 to the tilt member 724. The location of the tilt axis 726 also changes the amount of movement required of the second arm portion 720, the second base portion 714, and / or the tilt member 724 compared to the location of the tilt axis of the display systems 300 and 600. For example, the position of tilt axis 726 may require less horizontal movement in degree of freedom 722 and more vertical movement in degree of freedom 716 than in display systems 300 and 600, which may be advantageous in some embodiments, for example, to achieve greater rigidity for the display system, to operate within component or environmental constraints, etc.

[0114] In addition, if Figure 7 As shown, the tilt member 724 can be reduced in length compared to the length of the tilt members 324 and 624 described in display systems 300 and 600. In addition, the distance between the tilt axis 724 and the center of gravity of the components including the display unit 706 and the track mechanism that couples the display unit 706 to the tilt member 724 can be reduced. These smaller distances can reduce the joint-side inertia of the tilting movement of the display unit 706 about the tilt axis 726. In some embodiments, the reduction in the length of the tilt member 724 can also improve the stiffness and reduce the weight of the entire support structure.

[0115] In some embodiments, the above-described features of the display system 700 can result in lower torque output requirements, lower average current usage, and lower power dissipation by a motor or other actuator used to drive rotation of the display unit 706 about the tilt axis 726, and can allow additional operating headroom for the actuator and / or drive gear mechanism (allowing the actuator to output greater forces than would normally be required to operate the display system 700).

[0116] Figure 8-11 is a side view of a portion of a display system 800 illustrating rotation of a display unit about an example defined neck pivot axis according to some embodiments. The display system 800 includes similar components to the display systems 300 and 600 described above.

[0117] exist Figure 8, the display system 800 is shown with the display unit in a first pivot orientation. The display system 800 includes a base support 802, an arm support 804, and a display unit 806 similar to those described above. In this example, the base support 802 includes a second base portion 814 that can linearly translate through the interior of the first base portion 812 with a linear degree of freedom 816. The arm support 804 includes a first arm portion 818 rigidly coupled to the second base portion 814 and a second arm portion 820 that can linearly translate through the interior of the first arm portion 818 with a linear degree of freedom 822.

[0118] Similar to the example described above, the display unit 806 is coupled to the second arm portion 820 via the tilt member 824. The tilt member 824 is rotationally coupled to the second arm portion 820 at a first end and rotates around an axis 826. Similar to the example described above, the display unit 806 can be rotationally coupled to the second end of the tilt member 824 and rotate around the axis 826 according to the tilt member 824.

[0119] exist Figure 8 816 and 822). In the example embodiment shown, the display unit 806 is oriented in a first pivot orientation about an example defined neck pivot axis 840, which can be generally horizontal and can extend generally parallel to the tilt axis 826 (e.g., orthogonal to the plane defined by the degrees of freedom 816 and 822). In the example embodiment shown, the neck pivot axis 840 is located below the tilt axis 826. In some embodiments, the defined neck pivot axis 840 is located farther from the base support 802 than the display unit 806.

[0120] When the display unit 806 is oriented in a centered yaw rotation orientation about the yaw axis 830 as shown, the defined neck pivot axis 840 (and any defined neck pivot axis described herein) is oriented at a position aligned (substantially aligned) with the pivot axis of the neck of a typical user (such as user 850). For example, the defined neck pivot axis can be a horizontal axis positioned to intersect the position at which the neck of a typical user operating the display unit is roughly pivoted. The position can be different among different users (e.g., users of different heights, different neck sizes, etc.), and / or the user can have different preferences about where the defined neck pivot axis is located, so that in some embodiments, a position determined (e.g., averaged) from the preferred pivot positions of multiple users can be used for the defined neck pivot axis. In some example embodiments, the defined neck pivot axis can be located at a position that is roughly aligned with a specific bone or any specific cervical vertebra (e.g., the atlas bone or axis bone of the neck) of the user operating the display unit. In other examples, the defined neck pivot axis can be defined to correspond to other positions of the user's neck.

[0121] The neck pivot axis 840 is a virtual axis defined based on system parameters. Movement of the base support 802, the arm support 804, and the tilt member 824 can provide rotation about the neck pivot axis 840. The neck pivot axis 840 can be adjusted in accordance with the system parameters. Figure 8 The various positions shown are as defined by the movement of these components as rotation occurs about the desired neck pivot axis.

[0122] Some embodiments may allow the position of the defined neck pivot axis to be changed, for example, by user input, to accommodate a particular user's particular preferences or physiological conditions. In some examples, the defined neck pivot axis may be changed to a different position where the defined neck pivot axis is parallel to the tilt axis 826 (e.g., a different position where the axis is orthogonal to the vertical plane defined by degrees of freedom 816 and 822), for example, a new position upward, downward, forward, and / or backward from a previous position in the user's viewpoint. In some embodiments, a stored profile or setting may be stored in association with a specific user and applied to the use of the display system by the user. The stored profile includes a preferred position in space for a defined neck pivot axis and / or a defined eye pivot axis (described below), any of which may be loaded for system operation. Some embodiments may guide a user to determine a defined neck pivot axis customized for the user. For example, the system may output instructions to the user to bend his neck, straighten his neck, etc., and sense the rotation and trajectory of the user's head relative to the user's body based on sensor data (e.g., an image captured by an image capture device). This data is used by the display system (or control system) to determine a suggested defined neck pivot axis position for the user, a description of which may be output by an output device (such as a display device of display unit 806).

[0123] In the first pivoted orientation shown, the display unit 806 is in a horizontal view orientation about a defined pivot axis 840. The view orientation of the display unit 806 relative to the neck pivot axis 840 is indicated by line 842. Figure 8 840, line 842 extends horizontally through the neck pivot axis 840. In this embodiment, the horizontal view orientation corresponds to the tilt member 824 being in a horizontal orientation parallel to the arm support 804. Rotation of the display unit 806 about the neck pivot axis 840 is accomplished by moving the portion 814 of the base support 802, the portion 820 of the arm support 804, and / or the tilt member 824 to the appropriate position and / or orientation.

[0124] Figure 8A defined eye pivot axis 860 is also shown. The defined eye pivot axis 860 is positioned at a location corresponding to (e.g., coincident with) an eye axis that intersects an eye of a typical user (such as a user 850 who is viewing through a viewport of the display unit 806 when the display unit 806 is oriented in a centered yaw rotational orientation about the yaw axis 830 as shown). In some embodiments, the defined eye pivot axis extends parallel to the tilt axis 826 (e.g., orthogonal to the plane defined by the degrees of freedom 816 and 822). The defined eye pivot axis can be orthogonal to the view orientation of the display unit 806 when the display unit 806 is oriented in a centered yaw rotational orientation about the axis 830 as shown. The view orientation of the display unit 806 relative to the eye pivot axis 860 is indicated by the line of sight 862, where Figure 8 In the embodiment of the present invention, the line of sight 862 extends horizontally through the eye pivot axis 860 and indicates the reference viewing angle of the user 850 of the display unit. In some embodiments, as shown, the tilt axis 826 is located above the line of sight 862. Figure 12-14 Movement of the display system 800 based on the eye pivot axis 860 is described in more detail. Movement of the display system 800 about other defined pivot axes of the display unit 306 (e.g., a forehead pivot axis or a hand input device axis) can be implemented similarly to movement about the neck and / or eye pivot axes.

[0125] exist Fig. 9 806 is oriented in a second pivoted orientation rotated about the neck pivot axis 840 to allow an "upward" viewing angle for the user 850. Angle A1 is an example angle of rotation of the display unit 806 about the neck pivot axis 840, where angle A1 is the angle between the horizontal viewing orientation 842 of the display unit 806 and the neck axis viewing orientation 942 of the display unit 806. The display unit 806 has been rotated relative to the base support 802, the arm support 804, and the tilt member 824 by moving them to the positions and / or orientations shown. Figure 8 The first pivot orientation shown is rotated about the neck pivot axis 840. For example, relative to Figure 8 In the first pivot orientation shown, by rotating the tilt member 824 upward to the angle shown (in Fig. 9 The display unit 806 is moved to a second pivot orientation by linearly translating the second arm portion 820 away from the base support 802 and toward the user 850 to the position shown, and linearly translating the second base portion 814 upward (e.g., away from the ground) to the position shown. The tilt axis 826 is independent of the neck pivot axis 840 because rotation about the neck pivot axis 840 uses rotation about the tilt axis 826 and linear motion (translation) in degrees of freedom 822 and 816.

[0126] In some embodiments, Fig. 9 The viewing angle shown is the upward direction of the display unit 806 (e.g., Fig. 9 In other embodiments, the display unit 806 may rotate upward (eg, counterclockwise) more than 10 degrees before reaching the rotation limit in that direction. Fig. 9 Larger amounts shown.

[0127] exist Fig.10 840, to allow a "downward" viewing angle of the user 850. Angle A2 is an example angle of rotation of the display unit 806 about the neck pivot axis 840, where angle A2 is the angle between the horizontal view orientation 842 of the display unit 806 and the neck axis view orientation 1042 of the display unit. The display unit 806 has been rotated about the neck pivot axis 840 by moving the base support 802, the arm support 804, and the tilt member 824 to the positions and / or orientations shown. For example, relative to Figure 8 In the first pivot orientation shown, by rotating the tilt member 824 downward to the angle shown (at Fig.10 806 is moved to a third pivot orientation by linearly translating the second arm portion 820 with the degree of freedom 822 toward the base support 802 and away from the user 850 to the position shown and linearly translating the second base portion 814 downward (e.g., toward the ground) to the position shown.

[0128] exist Fig.11 840, to allow a further downward viewing angle for the user 850. Angle A3 is an example angle of rotation of the display unit 806 about the neck pivot axis 840, where angle A3 is the angle between the horizontal view orientation 842 of the display unit 806 and the neck axis view orientation 1142 of the display unit. The display unit 806 has been rotated about the neck pivot axis 840 by moving the base support 802, the arm support 804, and the tilt member 824 to the positions and / or orientations shown. For example, relative to Fig.10 The third pivot orientation shown is achieved by rotating the tilt member 824 further downward to the angle shown (at Fig.11 806 is moved to a fourth pivot orientation by linearly translating the second arm portion 820 with the degree of freedom 822 toward the base support 802 and away from the user 850 to the position shown and linearly translating the second base portion 814 downward (e.g., toward the ground) to the position shown.

[0129] exist Figure 8-11 In the example embodiment shown, the distance between the defined neck pivot axis 840 and the tilt axis 826 is fixed during rotation of the display unit about the defined neck pivot axis 840 .

[0130] Figure 12-14 is a side view of a portion of a display system 800 illustrating rotation of a display unit about a defined eye pivot axis according to some embodiments. The display system 800 includes similar components to the display systems 300, 600, and 700 described above.

[0131] exist Fig.12 8, the display unit 806 is oriented in a fifth pivot orientation, which rotates about a defined eye pivot axis 860 to allow an upward viewing angle for the user 850. Angle A4 is an example angle of rotation of the display unit 806 about the eye pivot axis 860, where angle A4 is a horizontal eye axis view orientation 862 of the display unit 806 (e.g., Figure 8 The display unit 806 has been positioned relative to the eye axis view orientation 1262 by moving the base support 802, the arm support 804, and the tilt member 824 to the position and / or orientation shown. Figure 8 The first pivot orientation shown is rotated about the eye pivot axis 860. For example, relative to Figure 8 In the first pivot orientation shown, by rotating the tilt member 824 upward to the angle shown (in Fig.12 The display unit 806 is moved to a fifth pivot orientation by linearly translating the second arm portion 804 away from the base support 802 and toward the user 850 to the position shown, and linearly translating the second base portion 814 upward (e.g., away from the ground) to the position shown. The tilt axis 826 is independent of the eye pivot axis 860 because rotation of the display unit 806 about the eye pivot axis 860 uses rotation about the tilt axis 826 and linear motion (translation) in degrees of freedom 822 and 816.

[0132] exist Fig.13860 to allow a downward viewing angle for the user 850. Angle A5 is an example angle of rotation of the display unit 806 about the eye pivot axis 860, where angle A5 is the angle between the horizontal eye axis view orientation 862 of the display unit 806 and the eye axis view orientation 1362 of the display unit. The display unit 806 has been rotated about the eye pivot axis 860 by moving the base support 802, the arm support 804, and the tilt member 824 to the positions and / or orientations shown. For example, relative to Figure 8 In the first pivot orientation shown, by rotating the tilt member 824 downward to the angle shown (at Fig.13 806 to a sixth pivot orientation by linearly translating the second arm 804 in the degree of freedom 822 toward the base support 802 and away from the user 850 the distance shown and linearly translating the second base portion 814 downward (e.g., toward the ground) the distance shown.

[0133] exist Fig.14 860 to allow a further downward viewing angle of the user 850. Angle A6 is an example angle of rotation of the display unit 806 about the eye pivot axis 860, where angle A6 is the angle between the horizontal eye axis view orientation 862 of the display unit 806 and the eye axis view orientation 1462 of the display unit. The display unit 806 has been rotated about the eye pivot axis 860 by moving the base support 802, the arm support 804, and the tilt member 824 to the positions and / or orientations shown. For example, relative to Figure 8 In the first pivot orientation shown, by rotating the tilt member 824 downward to the angle shown (at Fig.14 826 clockwise about axis 826 in the viewpoint of the embodiment of the present invention), linearly translating the second arm 804 with the degree of freedom 822 toward the base support 802 and away from the user 850 to the position shown and linearly translating the second base portion 814 downward (e.g., toward the ground) to the position shown to move the display unit 806 to a seventh pivot orientation.

[0134] Fig.15 and 16 1 and 2 are perspective and side views, respectively, of an example base support 1500 for a display system according to some embodiments. For example, the base support 1500 may be used as the base support 302 ( Figure 3-Figure 5 ), the base support 602 of the display system 600 ( Figure 6 ) or the base support 702 ( Figure 7 ).

[0135] The base support 1500 includes a telescopic first base portion 1502 and a second base portion 1504. The first base portion 1502 is an elongated member coupled to the ground (e.g., a floor or other support surface) and includes a hollow interior. The second base portion 1504 is an elongated member positioned in the interior of the first base portion 1502 so that it is slidably engaged with the first base portion 1502. In some embodiments, the second base portion 1504 can include a longitudinal (e.g., vertical) groove engaged by a mating portion of the first base portion 1502, or vice versa, to provide stability to the sliding engagement of the first and second base portions.

[0136] The drive mechanism applies a force to the second base portion 1504 to move the portion. The drive mechanism includes one or more actuators to cause the second base portion 1504 to translate linearly within the first base portion 1502 with a degree of freedom 1506. In this example, the drive mechanism includes a ball screw transmission to transfer force from the actuator to the second base portion 1504. The actuator can be a rotary motor 1508, which is rigidly coupled to one end of the first base portion 1502, for example, to the end of the ground support. The motor 1508 has a rotary shaft coupled to a first end of a ball screw 1510, which extends through an interior portion of the first base portion 1502 and through an interior portion of the second base portion 1504. The ball screw 1510 is a threaded member that engages a threaded hole of a ball screw nut 1512. The ball nut 1512 is rigidly coupled to the second base portion 1504. In some embodiments, the ball screw 1510 can be rotatably coupled at its second end to a support bearing 1514, wherein the support bearing 1514 is rigidly coupled to the second base portion 1504. For example, the support bearing 1514 can align the ball screw 1510 along a central axis parallel to the ball screw 1510 through the ball screw nut 1512. In some embodiments, the support bearing 1514 is not used.

[0137] In operation, the motor 1508 outputs a force on its rotatable shaft to cause the ball screw 1510 to rotate. The rotation of the ball screw 1510 causes the ball screw nut 1512 and the support bearing 1514 to move linearly along the longitudinal axis of the ball screw 1510. The movement of the ball screw nut 1512 is constrained by the ball screw 1510 and by the sliding engagement of the first base portion 1502 and the second base portion 1504. The linear movement of the ball nut 1512 causes the second base portion 1504 to move linearly with degrees of freedom 1506. The ball screw transmission thus converts the rotational force from the motor 1508 into a linear force applied to the second base portion 1504. In some embodiments, the motor 1508 can be coupled to a sensor such as a rotary encoder that determines the rotational orientation of the motor shaft and the ball screw 1510, which can be converted into a linear position of the second base portion 1504 relative to the first base portion 1502.

[0138] The motor 1508 may be any of a variety of types of actuators similar to those described herein for other embodiments. For example, an active actuator such as a motor (e.g., a DC motor), a voice coil, or other type of active actuator may be used. The motor 1508 may be controlled using control signals from, for example, a remote operating system or other system's control circuitry. One or more sensors may be coupled to the Fig.15 One or more of the components of the manipulator system 1500 that are operable to detect translation and / or position of the second base portion 1504 relative to the first base portion 1502. For example, in some embodiments, in addition to or in lieu of a rotary encoder coupled to the motor 1508, a linear sensor can be coupled to the first base portion 1502 and / or the second base portion 1504 to sense linear motion of the second base portion 1504 relative to the first base portion 1502. The sensor can send a signal describing the sensed position, orientation, or motion to one or more control circuits, such as a control system of the teleoperation system 100. In some modes or embodiments, the control circuit can provide a control signal to the manipulator system indicating the sensed position, orientation, or motion. The sensor can be any of a variety of types of sensors, such as a magnetic sensor (e.g., a magnetic incremental linear position sensor, a Hall effect sensor, etc.), an optical sensor, an encoder, a resistive sensor, etc.

[0139] In some embodiments, additional drive mechanisms may be provided on the base support 1500 and coupled to an ergonomic support (eg, Figure 2The ergonomic support 214 of the embodiment of the present invention can be provided to provide a force to cause linear up and down movement of the ergonomic support and adapt to specific user preferences for support height. In some examples, the additional drive mechanism can be mounted to the outside of the base support 1500, and the drive mechanism for the second base portion 1504 can be provided on the inside of the base support 302, as shown. For example, the additional drive mechanism can use an actuator and ball screw mechanism similar to that described above, and / or a different drive mechanism.

[0140] Fig.17 and 18 1 and 2 are perspective and side views, respectively, of an example arm support 1700 for a display system according to some embodiments. For example, arm support 1700 may be used as arm support 304 ( Figure 3-Figure 5 ), the arm support 604 of the display system 600 ( Figure 6 ) or the arm support 704 ( Figure 7 ).

[0141] The arm support 1700 includes a retractable first arm portion 1702 and a second arm portion 1704. The first arm portion 1702 is an elongated member having a hollow interior and, in some embodiments, can be coupled to a base support, such as the second base portion 314, 614 or 714, or Fig.15 The second arm portion 1704 is an elongated member positioned within the interior of the first arm portion 1702 such that it is slidably engaged with the first arm portion 1702. In some embodiments, the second arm portion 1704 can include a longitudinal (e.g., horizontal) groove engaged by a mating portion of the first arm portion 1702, or vice versa, to provide stability to the sliding engagement of the first and second arm portions.

[0142] The second arm portion 1704 is driven by one or more actuators to translate linearly within the first arm portion 1702 with degrees of freedom 1706. In this example, a ball screw transmission is used to transfer force from the actuator to the second arm portion 1704. The actuator can be a rotary motor 1708, which is rigidly coupled to one end of the first arm portion 1702 (e.g., coupled to the end of the ground support). The motor 1708 has a rotary shaft coupled to a first end of a ball screw 1710, which extends through an interior portion of the first arm portion 1702 and through an interior portion of the second base portion 1704. The ball screw 1710 is a threaded member that engages a threaded hole of a ball screw nut 1712. The ball screw nut 1712 is rigidly coupled to the second arm portion 1704. In some embodiments, the ball screw 1710 can be rotatably coupled at its second end to a support 1714, and the support 1714 is rigidly coupled to the second arm portion 1704 and aligns the ball screw 1710 along a central axis parallel to the ball screw 1710 through the ball screw nut 1712. In some embodiments, the support bearing 1714 is not used.

[0143] In operation, the motor 1708 outputs a force on its rotatable shaft to cause the ball screw 1710 to rotate. The rotation of the ball screw 1710 causes the ball screw nut 1712 to move linearly along the longitudinal axis of the ball screw 1710. The movement of the ball screw nut 1712 is constrained by the ball screw 1710 and by the sliding engagement of the first arm portion 1702 and the second arm portion 1704. The linear movement of the ball screw nut 1712 causes the second arm portion 1704 to move linearly with degrees of freedom 1706. The ball screw transmission thus converts the rotational force from the motor 1708 into a linear force applied to the second arm portion 1704. In some embodiments, the motor 1708 can be coupled to a sensor such as a rotary encoder that determines the rotational orientation of the motor shaft and the ball screw 1710, which can be converted into a linear position of the second arm portion 1704 relative to the first arm portion 1702.

[0144] The motor 1708 may be any of a variety of types of actuators similar to those described herein for other embodiments, such as an active actuator, such as a motor (e.g., a DC motor), a voice coil, or other type of active actuator. The motor 1708 may be controlled using control signals from, for example, a remote operating system or other system's control circuitry. One or more sensors may be coupled to Fig.17One or more of the components of the manipulator system 1700 that are operable to detect translation and / or position of the second arm portion 1704 relative to the first arm portion 1702. For example, in some embodiments, in addition to or in lieu of a rotary encoder coupled to the motor 1708, a linear sensor can be coupled to the first arm portion 1702 and / or the second arm portion 1704 to sense linear motion of the second arm portion 1704 relative to the first arm portion 1702. The sensor can send a signal describing the sensed position, orientation, or motion to one or more control circuits, such as a control circuit of the teleoperation system 100. In some modes or embodiments, the control circuit can provide a control signal to the manipulator system indicating the sensed position, orientation, or motion. The sensor can be any of a variety of types of sensors, such as a magnetic sensor (e.g., a magnetic incremental linear position sensor, a Hall effect sensor, etc.), an optical sensor, an encoder, a resistive sensor, etc.

[0145] Fig.19 , 20 21 are side, front, and perspective views, respectively, of an example tilt mechanism 1900 according to some embodiments.

[0146] The tilt mechanism 1900 includes a tilt member 1902 and a tilt drive mechanism 1904. For example, the tilt member 1902 can be used as the tilt member 324 ( Figure 3-Figure 5 ), the tilting member 624 of the display system 600 ( Figure 6 ) or the tilting member 724 ( Figure 7 For example, a display unit (such as display unit 306 ( Figure 3 ), display unit 606 ( Figure 6 ) or display unit 706 ( Figure 7 )) can be coupled to the tilt member 1902 similarly as described above. For example, the display unit can be coupled to the portion 1905 of the tilt member 1902, and its example reference Fig. 22 Give a description.

[0147] The tilt member 1902 is rotatably coupled to a support 1906. In some examples, the support 1906 can be part of an arm support (e.g., a distal portion) or coupled to an arm support, such as the second arm portion 320, 620, 720, or 1704 described above. The tilt member 1902 can rotate about a tilt axis 1908, which can be, for example, the tilt axis 326, 626, or 726 described above.

[0148] The tilt drive mechanism 1904 may include one or more actuators to drive the rotation of the tilt member 1902 about the tilt axis 1908 to a specific orientation. In this example, the motor 1910 includes a driven shaft 1911 that is rigidly coupled to the extensions 1912 and / or 1913 of the tilt member 1902. The motor 1910 has a housing that is rigidly coupled to the support 1906. When the shaft 1911 is rotated by the motor 1910, the tilt member 1902 rotates about the tilt axis 1908. In some embodiments, the driven shaft 1911 of the motor 1910 can be coupled to both the first extension 1912 and the second extension 1913 of the tilt member 1902, or the driven shaft can be coupled to one of the first extension 1912 and the second extension 1913. In some embodiments, the tilt member 1902 includes a single extension 1912 or 1913.

[0149] The motor 1910 can be any of various types of actuators (e.g., active actuators such as motors (e.g., DC motors), voice coils, or other types of active actuators). The motor 1910 can be controlled using control signals from, for example, a remote operating system or other system's control circuitry.

[0150] In some embodiments, the motor 1910 is coupled to a drive transmission 1914 that can provide a gear transmission of the output rotation of the motor shaft to increase or decrease the amount of rotation of the connected tilt member 1902, rather than the tilt member 1902 directly rotating the same amount as the motor shaft 1911. The drive transmission 1914 includes a shaft 1915 of an extension member 1912 rigidly coupled to the tilt member 1902. For example, the drive transmission 1914 can provide a gear transmission so that a full rotation of the drive shaft 1911 provides a partial rotation of the shaft 1915, thereby causing a partial rotation of the tilt member 1902. In some examples, the drive transmission 1914 is a harmonic drive mechanism. In some embodiments, different drive transmissions can be used, such as a capstan drive mechanism, mechanical gears, etc.

[0151] One or more sensors may be coupled to one or more of the components of the tilt mechanism 1902 that are operable to detect rotation of the tilt member 1902 about the axis 1908. For example, in some embodiments, a sensor 1916 (e.g., a rotary encoder) is coupled to the shaft 1911 of the motor 1910 and determines the rotational orientation of the shaft 1911 so that the rotational orientation of the tilt member 1902 about the axis 1908 can be determined (e.g., taking into account the rotational reduction provided by the drive transmission 1914). In some embodiments, sensors may be coupled to other components of the tilt mechanism 1900 to sense the rotational orientation of the tilt member 1902 about the axis 1908. The sensor(s) may send a signal describing the sensed position, orientation, or motion to one or more control circuits, such as a control system of the teleoperation system 100. In some modes or embodiments, the control circuit may provide a control signal to the manipulator system indicating the sensed position, orientation, or motion. The sensor may be any of a variety of types of sensors, such as a rotary encoder, a magnetic sensor (e.g., a magnetic incremental linear position sensor, a Hall effect sensor, etc.), an optical sensor, an encoder, a resistive sensor, etc.

[0152] Fig. 22 2204. Figure 3-Figure 5 , 6 or 7 display unit 306, 606 or 706. In another example, the tilt member 2204 may be Figure 3 , 6 or 7 of the inclined member 324, 624 or 724, or Figure 19-21 The inclined member 1902.

[0153] The display unit mechanism 2200 includes a rotation mechanism that rotationally couples the display unit 2202 to the tilt member 2204 and allows the display unit 2202 to pivot relative to the tilt member 2204 about an axis 2206. In this example, the axis 2206 may be perpendicular to the axis 2208 about which the tilt member 2204 rotates. For example, the axis 2206 may be the axis 2208 of the display unit 2202, which is shown in FIG. Figure 3 , 6 or the axis 330, 630 or 730 described in 7, and the axis 2208 can be Figure 19-21 The axis 1908, or respectively Figure 3 , 6 Or the inclined axis 326, 626 or 726 in 7.

[0154] In this example, the rotation mechanism is a track mechanism including an arcuate track support including an arcuate track 2210 and a groove member 2212. The arcuate track 2210 is rigidly coupled to the display unit 2202 and slidably engages with a groove or hole in the groove member 2212, which is coupled to or is part of the tilt member 2204. The curvature of the arcuate track 2210 allows the display unit 2202 to pivot about the axis 2206 by sliding the arcuate track 2210 within the groove of the groove member 2212 along the length of the arcuate track 2210. In some other embodiments, the arcuate track can be coupled to the tilt member 2204, and the groove member (or a slidably mating arcuate rail) can be coupled to the display unit 2202, wherein the groove member rotates along the length of the arcuate track about the axis 2206 with the display unit 2202.

[0155] The display unit mechanism 2200 includes a drive mechanism that outputs a force to the display unit 2202 and drives the display unit 2202 around an axis 2206. In this example, the drive mechanism includes a winch drum 2216, which in some embodiments is rigidly coupled to the arc track 2210 (or in some embodiments, can be included as an integral part of the arc track 2210). The drive mechanism includes a motor 2218 having a housing rigidly coupled to the tilt member 2204. The motor 2218 can be any of various types of actuators, such as an active actuator, such as a motor (e.g., a DC motor), a voice coil, or other types of active actuators. The motor 2218 can be controlled using a control signal from, for example, a control circuit of a remote operation system or other system.

[0156] The rotational shaft of the motor 2218 rotates around a rotational axis 2220, which can be, for example, parallel to the axis 2206 about which the display unit 2202 rotates. The shaft of the motor 2218 is rigidly coupled to a capstan pulley 2222 and rotates the capstan pulley 2222 around the axis 2220. In some embodiments, the capstan pulley 2222 is coupled to the capstan drum 2216 via a cable 2224. For example, a first end of the cable 2224 can be attached to a first end 2226 of the capstan drum 2216, run along a side surface of the capstan drum 2216, wrap around the capstan pulley 2222, and run along the surface of the capstan drum 2216 to a second end 2228 where the second end of the cable is attached. In some embodiments, two cables may be used, for example, a first cable having a first end attached to the first end 2226 of the drum and a second end attached to the winch pulley 2222, and a second cable having a first end attached to the second end 2228 of the drum and a second end attached to the winch pulley 2222, wherein the two cables travel along the side surface of the winch drum 2216.

[0157] In operation, the motor 2218 is controlled to rotate its shaft about the axis 2220, thereby causing rotation of the winch pulley 2222. The rotation of the winch pulley 2222 causes movement of the cable(s) 2224 via winding and unwinding of the cable(s) 2224 about the winch pulley 2222. The movement of the cable(s) 2224 causes the display unit 2202 to rotate about the axis 2206 as guided by the arcuate track 2210 in the groove or hole of the groove member 2212.

[0158] In some embodiments, a brake may be provided to stop the movement of the display unit 2202 about the axis 2206, for example, during deactivation of the display system. For example, a brake that applies a braking force about the axis 2206 may be used when power is removed to prevent rotation of the display unit 2202, for example, during non-operation. In various embodiments, the brake may include a rotational brake coupled to the shaft of the motor 2218 or coupled to the winch pulley 2222 to reduce or prevent rotation of the motor shaft, and / or the brake may include a linear brake positioned between the tilt member 2204 and the display unit 2202 and / or between the tilt member 2204 and the winch drum 2216 / arc track 2210 to induce friction in the relative movement of these components. For example, the brake may include a spring-loaded disc brake.

[0159] One or more sensors may be coupled to one or more of the components of the display unit mechanism 2200 that are operable to detect rotation of the display unit 2202 about the axis 2206. For example, in some embodiments, a sensor 2230 (e.g., a rotary encoder) is coupled to the shaft of the motor 2218 and determines the rotational orientation of the motor shaft in order to detect the rotational orientation of the display unit 2202 about the axis 2206. In some embodiments, sensors may be coupled to other components of the display unit mechanism 2200 to sense the rotational orientation of the display unit 2202. The sensor(s) may send signals describing the sensed position, orientation, or motion to one or more control circuits, such as a control system of the teleoperation system 100. In some modes or embodiments, the control circuit may provide a control signal to the manipulator system indicating the sensed position, orientation, or motion. The sensor may be any of a variety of types of sensors, such as a rotary encoder, a magnetic sensor (e.g., a magnetic incremental linear position sensor, a Hall effect sensor, etc.), an optical sensor, an encoder, a resistive sensor, etc.

[0160] In other example embodiments, the curved track 2210 and the winch drum 2216 may be coupled to the tilt member 2204 , and the groove component 2212 and the motor 2218 may be coupled to the display unit 2202 .

[0161] Fig.23 is a perspective view of an example of another implementation of a display system 2300 according to some implementations, Fig.24 is a front view of an example of another implementation of a display system 2300 according to some implementations, and Fig.25 is a side view of an example of another implementation of a display system 2300 according to some implementations. In some examples, the display system 2300 can be used, for example, for Figure 1 and the user control system 102 of the remote operation system described elsewhere in this document, or can be used in other systems or as a stand-alone system as described above. Unless otherwise specified, the features of the display system 2300 can be similar to those described above. Figure 3 Those features of the display system 300.

[0162] The display system 2300 includes a base support 2302, an arm support 2304, and a display unit 2306. As described in more detail below, the display unit 2306 is provided with multiple degrees of freedom of movement through a support linkage that includes the base support 2302, the arm support 2304 coupled to the base support 2302, and a track mechanism that includes a track member and a slide member (described below) coupled to the arm support 2304. The display unit is coupled to the slide member.

[0163] In some embodiments, the base support 2302 and the arm support 2304 can be the same as those described above. Figure 3-7 The described are implemented similarly. In some examples, the base support 2302 is a vertical member that is mechanically grounded (coupled to the ground). The base support 2302 can be mechanically coupled to the support structure 2310. The base support 2302 includes a first base portion 2312 and a second base portion 2314. The first base portion 2312 is a proximal portion of the base support 2302, which can be mechanically grounded, and the second base portion 2314 is a distal portion of the base support 2302, which is linearly coupled to the first base portion 2312 so that the second base portion 2314 can translate with a linear degree of freedom relative to the first base portion 2312. In some examples, first base portion 2312 and second base portion 2314 are telescopically coupled, e.g., first base portion 2312 is a first telescopic base portion and second base portion 2314 is a second telescopic base portion, such that one of portions 2312 or 2314 is configured as a tube or sleeve having a hollow interior through which the other of portions 2314 or 2312 extends. Figure 23-Figure 25In the example of FIG. 2 , the second base portion 2314 can linearly translate through the interior of the first base portion 2312 with a linear degree of freedom 2316. The linear translation of the second base portion 2314 relative to the first base portion 2312 can be driven by one or more actuators (e.g., motors), such as described above with reference to Fig.15 and 16 Other embodiments may use different configurations. For example, the first base portion 2312 may extend through the interior of the second base portion 2314 so that the second base portion 2314 can be linearly translated relative to the first base portion 2312. In other examples, the base portions 2312 and 2314 can be positioned adjacent to each other along their vertical lengths to allow for linear translation.

[0164] The arm support 2304 is a horizontal member that is mechanically coupled to the base support 2302. The arm support 2304 may include a first arm portion 2318 and a second arm portion 2320. The first arm portion 2318 is a proximal portion of the arm support 2304 that is rigidly coupled to the second base portion 2314 of the base support 2302, and the second arm portion 2320 is a distal portion of the arm support 2304 that is linearly coupled to the first arm portion 2318 such that the second arm portion 2320 can linearly translate relative to the first arm portion 2318 with a linear degree of freedom. In some examples, first arm portion 2318 and second arm portion 2320 are telescopically coupled, e.g., first arm portion 2318 is a first telescopic arm portion and second arm portion 2320 is a second telescopic arm portion, such that one of portions 2318 or 2320 is configured as a tube or sleeve having a hollow interior through which the other of portions 2320 or 2318 extends. Figure 23-Figure 25 In the example of FIG. 2 , the second arm portion 2320 can linearly translate through the interior of the first arm portion 2318 with a linear degree of freedom 2322. The linear translation of the second arm portion 2320 relative to the first arm portion 2318 can be driven by one or more actuators (e.g., motors), as described with respect to FIG. Fig.17 and 18 Other embodiments may use different configurations, for example, the first arm portion 2318 may extend through the interior of the second arm portion 2320 so that the second arm portion 2320 can translate linearly relative to the first arm portion 2318. In other examples, the arm portions 2318 and 2320 can be positioned adjacent to each other along their vertical lengths to allow for linear translation.

[0165] In some embodiments, the first arm portion 2318 and the second base portion 2314 can be considered a single piece, for example, an intermediate support or intermediate portion coupled between the first base portion 2312 and the second arm portion 2320. The intermediate support includes a horizontal first arm portion 2318 rigidly coupled to a vertical second base portion 2314, the first arm portion 2318 and the second base portion 2314 being oriented orthogonal to each other. The second arm portion 2320 can translate horizontally with a degree of freedom 2322 relative to the intermediate support, and the intermediate support and the second arm portion 2320 can translate vertically with a degree of freedom 2316 relative to the first base portion 2312.

[0166] In some examples as shown, the arm support 2304 extends along a horizontal axis that is orthogonal to the vertical axis along which the base support 2302 extends. In some examples, the base support 2302 and the arm support 2304 are fixed in orientation relative to each other, for example, they translate but do not change orientation relative to each other. In some examples, the arm support 2304 extends along an axis above a user operating the display unit, and the vertical axis extending through the base support 2302 extends through the first arm portion 2318 of the arm support 2302. In other embodiments, the arm support 2304 may extend at other heights and / or configurations, for example, below the user's head or body, at the height of the user's head, on the user's back, and yoke around the user, etc. Some embodiments may provide components in the display system 2300 to reduce vibrations in the supports and components of the display system 2300 to provide a smoother experience for the user operating the display unit 2306, compared to the user operating the display unit 2306. Figure 3-Figure 5 Similar to what described.

[0167] The display unit 2306 is mechanically coupled to the arm support 2304. The display unit 2306 can be moved in two linear degrees of freedom provided by the linear translation of the second base portion 2314 and the second arm portion 2320. In some embodiments, these linear degrees of freedom can be provided in a vertical plane. In some examples, as shown, the vertical plane can be defined by the base support 2302 and the arm support 2304.

[0168] The display unit 2306 includes a display device that can display images, for example, one or more display screens, projectors, or other display devices. Figure 23-Figure 25 As shown, the display unit 2306 includes two viewports 2323, and the display device is provided behind the viewport or included in the viewport. In some embodiments, one or more display screens or other display devices can be positioned on the display unit 2306 instead of the viewport 2323.

[0169] The display unit 2306 is connected to the arm support 2304 via a track member 2324 and a slide member 2330. Figure 23-Figure 25 In the example of FIG. 2 , the first end of the track member 2324 is rigidly connected to the distal end of the second arm portion 2320. The track member 2324 extends from its first end to the second end in an arc or curved configuration. Figure 23-Figure 25 23. In the orientation of FIG. 23, the second end of the track member 2324 is lower than the first end. In this example, the track member 2324 extends generally downward (toward the support structure 2310) from the first end of the track member and toward the base support 2302. In some embodiments, the track member 2324 is curved about a central axis (e.g., axis 2326). In some embodiments, the track member 2324 does not include a linear segment or portion.

[0170] The display unit 2306 is coupled to the sliding member 2330, and the sliding member 2330 is slidably coupled to the track member 2324. In some embodiments, as Figure 23-Figure 25 As shown, the sliding member 2330 includes a hole 2329 (or slot or groove) extending through the sliding member, and the track member 2324 extends through the hole 2329 to allow the sliding member 2330 and the display unit 2306 to slide along the length of the track member. The sliding member 2330 and the display unit 2306 can be positioned at any of a plurality of positions along the track member 2324. Thus, the track member 2324 provides a set of positions for the display unit 2306 that follow the arcuate configuration of the track member 2324.

[0171] exist Figure 23-Figure 252306, the track member 2324 extends along an arcuate path around an axis 2326, which is the tilt axis of the display unit 2306. In some embodiments, the radius of the arcuate track member 2324 determines the position of the tilt axis 2326. For example, the tilt axis 2326 can extend through a point at a radial distance from the track member 2324 that is at the center of a circle (or other shape) at least partially traced by the track member 2324. For example, when the sliding member 2330 and the display unit 2306 move along the track member 2324, these elements rotate relative to the second arm portion 2320 about the tilt axis 2326 with a rotational (tilt) degree of freedom 2327. In some embodiments, the tilt axis 2326 is oriented orthogonally to the linear degrees of freedom provided to the display unit 2306 by the base support 2302 and the arm support 2304. For example, the slide member 2330 can provide a rotational degree of freedom to the display unit 2306 in a vertical plane that is the same as or parallel to the vertical plane in which the degrees of freedom 2316 and 2322 are provided by the base support 2302 and the arm support 2304. In some embodiments, the tilt axis 2326 is orthogonal to the plane defined by the degrees of freedom 2316 and 2322. In some embodiments, the base support 2302, the arm support 2304, and the guide member 2330 can be considered a support linkage with the display unit 2306 coupled at the distal end of the support linkage.

[0172] The sliding element 2330 and the display unit 2306 can rotate about a defined pivot axis based on the movement allowed by the first arm portion 2314, the second arm portion 2320, and the track member 2324. Figure 26-31 Some examples of such rotation about a defined pivot axis are described.

[0173] In some other example embodiments, different mechanisms can be used to slidably or movably couple the display unit 2306 to the track member 2324. For example, a cam roller can be coupled to the display unit 2306, and the track member 2324 can be a cam follower. The cam roller engages the cam follower. For example, the cam roller can be rotatably coupled to the display unit 2306, and in some embodiments, has an axis of rotation that is orthogonal to the yaw axis 2332. The cam roller can be cylindrical and can roll along the arcuate surface of the cam follower to provide rotational motion around the tilt axis 2326. For example, the cam roller can be held against the cam follower by a wall or ridge of the cam follower. In some embodiments, the cam follower (track member 2324) can be rigidly coupled to the display unit 2306, and the cam roller can be rotatably coupled to the tilt member 2324 so that the cam follower moves around the tilt axis 2326 with the display unit 2306.

[0174] The rotational movement of the display unit 2306 about the tilt axis 2326 can be driven by one or more actuators (e.g., motors). In some embodiments, the rotation motor 2328 can be rigidly coupled to the sliding member 2330, and the rotation axis of the motor 2328 can be coupled to a capstan pulley (e.g., similar to Fig. 22 The cable can be coupled between the first and second ends of the track member 2324 and extend along a side of the track member 2324 facing the motor 2328 and the base support 2302, such that the track member 2324 functions as a winch drum. The cable is wound around the winch pulley connected to the motor shaft (e.g., similar to the description of FIG. 23 ). Fig. 22 In some embodiments, two cables may be used instead of the cable, for example, a first cable having a first end attached to the first end of the track member 2324 and a second end attached to the capstan pulley, and a second cable having a first end attached to the second end of the track member 2324 and a second end attached to the capstan pulley, wherein the two cables travel along the side surface of the track member 2324.

[0175] Using this winch drive mechanism, the motor 2328 can be controlled to rotate the winch pulley in either direction and move (one or more) cables that pull the display unit 2306 in a corresponding direction along the track member 2324. The motor 2328 can be controlled by a control signal from a control circuit (e.g., a control system) to move the display unit 2306 to a specific orientation around the tilt axis 2326 with the tilt degree of freedom 2327. Other embodiments may use different drive mechanisms to move the display unit 2306 along the track member 2324.

[0176] In some embodiments, the display unit 2306 is rotationally coupled to the slide member 2330 and can rotate relative to the slide member 2330 (and relative to the track member 2324, the arm support 2304, and the base support 2302) about the yaw axis 2332. For example, this can be a lateral or left-right rotation from the viewpoint of a user viewing an image of the display unit 2306 via the viewport 2323. Figure 23-Figure 25 In the example of , the display unit 2306 is coupled to the sliding member 2330 via a rotation mechanism, which can be a track mechanism. For example, in some embodiments, the track mechanism includes an arc track support, which includes an arc track 2334, and the arc track 2334 is coupled to the display unit 2306, and the arc track 2334 can slidably engage a groove member rigidly coupled to the sliding member 2330, for example, as described above for Figure 3 and 22This allows the display unit 2306 to rotate about the yaw axis 2332 with a rotational (yaw) degree of freedom 2333 by moving the arcuate track 2334 through the groove of the groove member. In some embodiments, the arcuate track is coupled to the sliding member 2330, and the groove member is coupled to the display unit 2306, and the groove member engages and slides along the length of the arcuate track to allow rotational movement of the display unit 2306 about the yaw axis 2332. In some embodiments, the groove member can be about as long as the width of the sliding member 2330 and / or include at least a portion of a ring through which the arcuate track 2334 slides.

[0177] In some embodiments, the arc track 2334 is an arc track that slidably engages the groove member as described. In some embodiments, different mechanisms can be used. In some examples, the arc track 2334 can be an arc cam follower that engages with a cam roller. For example, the cam roller can be rotatably coupled to the display unit 2306 and, in various embodiments, have a rotation axis that is orthogonal to or parallel to the yaw axis 2332. For example, the cam roller can be cylindrical and can roll along the arc surface of the cam follower rigidly coupled to the sliding member 2330. For example, the cam roller can be held against the cam follower by a wall or ridge of the cam follower. In some embodiments, the cam follower can be rigidly coupled to the display unit 2306, and the cam roller can be rotatably coupled to the sliding member 2330.

[0178] The curvature (e.g., radius) of the arcuate track 2334 and / or the groove member is selected to provide the yaw axis 2332 at a specific distance from the user-facing side of the display unit 2306 and / or from the tilt axis 2326. For example, the yaw axis 2332 can be provided at a horizontal distance (parallel to the horizontal degree of freedom 2322) from the display unit 306 so that it substantially intersects a defined (virtual or software-defined) neck pivot axis corresponding to a pivot axis in the user's neck, as described below. In some embodiments, the defined neck pivot axis can be used as a reference for movement of the display unit 2306. In the described embodiments, the angle between the yaw axis 2332 and the vertical axis (e.g., parallel to the degree of freedom 2316) changes based on the orientation of the display unit 2306 about the tilt axis 2326.

[0179] The yaw movement of the display unit 2306 about the yaw axis 2332 can be driven by one or more actuators (e.g., motors). For example, the motor 2340 can be a rotary motor rigidly coupled to the sliding member 2330 and having a rotatable shaft that outputs a force on the display unit about the yaw axis 2332 using a drive transmission. In some examples, the drive transmission can include, for example, the same as described above with reference to Fig. 22 2342. The winch drive mechanism described above can be similar to the winch drive mechanism described above. For example, the driven shaft of the motor 2340 can be coupled to the winch pulley 2342. The cable 2344 can be attached to both ends of the winch drum 2336, and the winch drum 2336 is rigidly coupled to the arc track 2334, wherein the cable is wound around the winch pulley 2342, or two cables can be attached between the winch pulley 2342 and the corresponding ends of the winch drum 2336. The motor 2340 rotates the winch pulley 2342 to move (one or more) cables (e.g., winding and unwinding (one or more) cables on the pulley), thereby rotating the winch drum 2336, the arc track 2334, and the display unit 2306 around the yaw axis 2332. In some embodiments, other transmission devices and / or couplings can be used to provide rotational movement of the display unit 2306 relative to the track member 2324 and the arm support 2304 about the yaw axis 2332, for example, using a rotational joint similar to that described above for the display system 300.

[0180] The display system 2300 thus provides the display unit 2306 with vertical linear degrees of freedom 2316, horizontal linear degrees of freedom 2322, rotational tilt degrees of freedom 2327, and rotational yaw degrees of freedom 2333. For example, the vertical and horizontal degrees of freedom allow the display unit 2306 to be moved to any position within a range of motion or allowed workspace (e.g., within a vertical plane), and the tilt degree of freedom allows the display unit to be moved to a specific orientation within its range of motion (e.g., within a vertical plane or a parallel vertical plane).

[0181] The combination of coordinated movement of the components of the display system 2300 in at least two of these degrees of freedom allows the display unit 2306 to be positioned at various positions and orientations in its workspace, e.g., translated or rotated around the user, to facilitate a customized viewing experience for the user using the display unit. Movement of the display unit 2306 in the tilt, horizontal, and / or vertical degrees of freedom allows the display unit 2306 to remain close to the user's head and eyes during movement of the user's head, and / or maintain a physical connection between the user's forehead and the display unit 2306.

[0182] For example, the display unit 2306 can be positioned (e.g., translatable and / or rotatable) in its workspace so that the user's eyes are aligned with the viewport of the display unit. In addition, the display unit 2306 can be rotated in physical space around a defined eye pivot axis corresponding to (e.g., coinciding with) the eye axis through the user's two eyes to allow the user's desired vertical (e.g., up and down) eye viewing angle. The display unit can rotate around the yaw axis 2332 to allow the user's desired yaw (e.g., left and right) viewing angle. These rotations allow the display unit 2306 to be comfortably oriented so that the user views the image through the viewport.

[0183] The degrees of freedom may also or alternatively allow the display system 2300 to provide movement of the display unit 2306 in physical space about different defined pivot axes, which may be positioned in any of a variety of locations in the workspace of the display unit 2306. For example, the system 2300 may provide movement of the display unit 2306 in physical space that corresponds to movement of a user's head when operating the display system 2300. The movement may include rotation about a defined neck pivot axis that corresponds approximately to a neck axis of the user's head at the user's neck. The rotation allows the display unit 2306 to move in accordance with the user's head, which may be, for example, positioned using a rotation axis associated with the user's head. Figure 3-Figure 5 The head input device 342 shown is similar to the head input device to guide the movement of the display unit 2306. The following describes the movement of the display unit around the neck pivot axis ( Figure 26-Figure 29 ) and the eye pivot axis ( Figure 30-31 ) for some examples of this movement.

[0184] In another example, the movement of the display unit 2306 can include rotation about a defined forehead pivot axis that generally corresponds to a forehead axis extending through the user's head at the user's forehead when the display unit 2306 is oriented in a centered yaw rotation orientation about the yaw axis 2332 as shown. In some embodiments, the forehead pivot axis corresponds to an input device (e.g., a plurality of input devices) extending through the display unit 2306. Figure 3-Figure 5 The forehead pivot axis of a portion of the head input device 342 (similar to the head input device) is defined, where the portion is at or near the contact point between the user's forehead and the input device. In some embodiments, the defined forehead pivot axis can be oriented parallel to the tilt axis 2326, for example, orthogonal to the linear degrees of freedom 2316 and 2322. The defined forehead pivot axis can alternatively be positioned to correspond to a different location or portion of the user's forehead or the display unit.

[0185] In another example, the movement of the display unit 2306 can include a rotation about a defined hand input device pivot axis that generally corresponds to an axis extending through one or more hand input controls of the display unit 2306. For example, the axis can extend through portions of both hand input controls 2340a and 2340b positioned on opposite (left and right) sides of the display unit 2306 (e.g., the center of a grip). In some embodiments, the defined hand input device pivot axis can be oriented parallel to the tilt axis 2326, e.g., orthogonal to the linear degrees of freedom 2316 and 2322, similar to the neck, eye, and forehead pivot axes described above. The hand input device pivot axis is alternatively positioned to correspond to different locations or portions of the display unit, e.g., locations of different hand input devices. For example, the hand input device pivot axis provides a rotation axis, and the display unit 2306 can be commanded to rotate around the rotation axis by the user manipulating the hand input devices 2340a and 2340b and / or by the user manipulating other user input devices (such as the head input device 342, the control input devices 210 and 212, etc.).

[0186] In another example, the movement of the display unit 2306 in its workspace may include linear movement, for example based on linear translation in the vertical linear degree of freedom 2316 and the horizontal linear degree of freedom 2322, without rotational movement in the pitch and / or yaw degrees of freedom 2327 and / or 2333. In another example, the movement may include both linear and rotational movement. For example, the display unit 2306 may move linearly and then rotationally in its workspace, and / or vice versa.

[0187] During rotation of the display unit 2306 about the defined pivot axis, movement of the base support 2302 in the vertical degree of freedom 2316 and / or movement of the arm support 2304 in the horizontal degree of freedom 2322 can have a change in direction without a change in direction in the rotation of the display unit about the defined pivot axis. For example, the arm support 2304 can reverse direction when the display unit is rotated from a fully upward orientation to a fully downward orientation. Thus, in some embodiments, it is possible for the base support or the arm support to end up in the same position when the display unit has been rotated about the defined pivot axis from a first orientation to a second orientation, with the supports moving back and forth as the display unit transitions between the two orientations.

[0188] The display unit 2306 may include input devices to allow a user to provide input to manipulate the orientation and / or position of the display unit 2306 in space, and / or manipulate other functions or components of the display system 2300 and / or a larger system (e.g., a teleoperation system). Figure 3-Figure 5Some examples of input devices are described (e.g., hand input device 340 and head input device 342), and such input devices can be used in display system 2300, for example, provided on the side and / or front-facing surface of display unit 2306 in a similar manner. For example, hand input devices 2340a and 2340b can be located on display unit 2306, similar to hand input devices 340a and 340b. User input provided from such input devices can be used in conjunction with the above referenced Figure 3-14 The movement of the display unit 2306 and / or displayed images and other components is similarly controlled as described.

[0189] In some embodiments of the display system, the display unit 2306 can rotate about the yaw axis 2332 with a degree of freedom 2333, and one or more of the other degrees of freedom 2316, 2322, and / or 2327 are omitted from the display system 2300. For example, the display unit 2306 can rotate about the yaw axis 2332 (e.g., via actuator(s) and / or manually by a user), and the display unit 2306 can be manually positioned higher and / or lower (e.g., via actuator(s) and / or manually by a user), for example, using the base support 2302 or other mechanism, and the horizontal degree of freedom 2322 and / or the tilt degree of freedom 2327 are omitted.

[0190] Figure 26-Figure 29 is a side view of a portion of a display system 2600 according to some embodiments, illustrating rotation of a display unit about an example defined neck pivot axis. The display system 2600 includes the same Figure 23-Figure 25 Similar components to display system 2300.

[0191] exist Fig.26 , display system 2600 is shown with a display unit in a first pivot orientation. Display system 2600 includes a base support 2602, an arm support 2604, and a display unit 2606. In this example, similar to the examples described above, base support 2602 includes a grounded first base portion 2612 and a second base portion 2614. Second base portion 2614 can linearly translate through the interior of first base portion 2612 with a linear degree of freedom 2616. Arm support 2604 includes a second arm portion 2620 and a first arm portion 2618 rigidly coupled to second base portion 2614. Second arm portion 2620 can linearly translate through the interior of first arm portion 2618 with a linear degree of freedom 2622.

[0192] Display unit 2606 is similar to the above Figure 23-Figure 2526. The display unit 2606 is coupled to the second arm portion 2620 via the track member 2624 and the sliding member 2630 as described in the example of FIG. The track member 2624 is rigidly coupled to the second arm portion 2620. The display unit 2606 is coupled to the sliding member 2630, and the sliding member 2630 is slidably coupled to the track member 2624. The display unit 2606 rotates around the tilt axis 2626 according to the movement of the sliding member 2630 along the track member 2624.

[0193] exist Fig.26 26, the display unit 2606 is oriented in a first pivot orientation about a defined neck pivot axis 2640, which can be substantially horizontal and can extend substantially parallel to the tilt axis 2626 (e.g., orthogonal to the plane defined by the degrees of freedom 2616 and 2622). In example embodiments, the neck pivot axis 2640 can be positioned to intersect the head or neck of a user 2650 of the display unit 2606. For example, when the display unit 2606 is oriented in a centered yaw rotation orientation about the yaw axis 2632 as shown, the neck pivot axis 2640 is positioned at a position that is aligned (substantially aligned) with the pivot axis of the neck of a typical user (such as user 2650). The neck pivot axis is the position at which the neck of a typical user operating the display unit generally pivots. The position may be different among different users (e.g., users of different heights, different neck sizes, etc.), and / or users may have different preferences regarding where the defined neck pivot axis is located, such that in some embodiments, a position determined (e.g., averaged) from the preferred pivot positions of multiple users may be used for the defined neck pivot axis. In some example embodiments, the defined neck pivot axis may be located at a position that is substantially aligned with a specific bone of the neck of the user operating the display unit or any specific cervical vertebra (e.g., the atlas bone or axis bone of the neck). In other examples, the defined neck pivot axis may be defined to correspond to other positions of the user's neck.

[0194] The neck pivot axis 2640 is a virtual axis defined based on system parameters. Movement of the base support 2602, the arm support 2604, and the sliding member 2630 can provide rotation about the neck pivot axis 2640. The neck pivot axis 2640 can be adjusted in accordance with the system parameters. Fig.262616 and 2622), for example, a new position that is up, down, forward, and / or backward from a previous position in the user's viewpoint. In some embodiments, a stored profile or setting can be stored in association with a particular user and applied to use of the display system by that user, wherein the profile includes preferred positions for a defined neck pivot axis and / or a defined eye pivot axis (described below), either of which can be loaded for system operation. These and other features (e.g., guiding a user to determine a defined neck pivot axis) can be similar to those described with respect to FIG. Figure 8 Those characteristics described.

[0195] exist Fig.26 In the first pivot orientation shown, for example, the display unit 2606 can be in a horizontal view orientation about the neck pivot axis 2640. For example, the view orientation of the display unit 2606 relative to the neck pivot axis 2640 is indicated by line 2642. Fig.26 , line 2642 extends horizontally through neck pivot axis 2640. Rotation of display unit 2606 about neck pivot axis 2640 is accomplished by moving portion 2614 of base support 2602, portion 2620 of arm support 2604, and slide member 2630 to an appropriate position and / or orientation.

[0196] Fig.26 A defined eye pivot axis 2660 is also shown. The defined eye pivot axis 2660 is positioned at a location corresponding to (e.g., coincident with) an eye axis that intersects an eye of a typical user (such as a user 2650 who is viewing through a viewport of the display unit 2606 when the display unit 2606 is oriented in a centered yaw rotational orientation about the yaw axis 2632 as shown). In some embodiments, the defined eye pivot axis extends substantially parallel to the tilt axis 2626 (e.g., orthogonal to the plane defined by the degrees of freedom 2616 and 2622). The defined eye pivot axis can be orthogonal to the view orientation of the display unit 2606 when the display unit 2606 is oriented in a centered yaw rotational orientation about the axis 2632 as shown. The view orientation of the display unit 2606 relative to the eye pivot axis 2660 is indicated by the line of sight 2662, where Fig.26In the embodiment shown in FIG. 26 , the line of sight 2662 extends horizontally through the eye pivot axis 2660. In some embodiments, as shown, the tilt axis 2626 is located below the line of sight 2662. Fig.31 and 32 Movement of the display system 2600 based on the eye pivot axis 2660 is described in more detail. Movement of the display system 2600 about other defined pivot axes of the display unit 2606 (e.g., a forehead pivot axis or a hand input device axis) can be implemented similarly to movement about the neck and / or eye pivot axes.

[0197] exist Fig. 27 2606 is oriented in a second pivot orientation about a defined neck pivot axis 2640 to allow an "upward" viewing angle for the user 2650. Angle A1 is an example angle of rotation of the display unit 2606 about the neck pivot axis 2640, where angle A1 is the angle between the horizontal view orientation 2642 of the display unit 2606 and the neck axis view orientation 2742 of the display unit 2606. The display unit 2606 has been rotated relative to the base support 2602, the arm support 2604, and the slide member 2630 by moving them to the positions and / or orientations shown. Fig.26 The first pivot orientation shown is rotated about the neck pivot axis 2640. For example, relative to Fig.26 The first pivot orientation shown is achieved by moving the sliding ramp member 2630 upwardly along the track member 2624 into the orientation shown (in Fig. 27 The display unit 2606 is moved to the second pivot orientation by linearly translating the second arm portion 2620 away from the base support 2602 and toward the user 2650 to the position shown, and linearly translating the second base portion 2614 upward (e.g., away from the ground) to the position shown. The tilt axis 2626 is independent of the neck pivot axis 2640 because rotation of the display unit 2606 about the neck pivot axis 2640 uses rotation about the tilt axis 2626 and linear motion (translation) in the degrees of freedom 2622 and 2616.

[0198] In some embodiments, Fig. 27 The viewing angle shown is the upward direction of the display unit 2606 (e.g., as shown in FIG. Fig. 27 In other embodiments, the display unit 2606 may be rotated upward (eg, counterclockwise) more than 10 times before reaching the rotation limit in that direction. Fig. 27 Larger amounts shown.

[0199] exist Fig.28, the display unit 2606 is oriented in a third pivot orientation about a defined neck pivot axis 2640 to allow a "downward" viewing angle for the user 2650. Angle A2 is an example angle of rotation of the display unit 2606 about the neck pivot axis 2640, where angle A2 is the angle between the horizontal view orientation 2642 of the display unit 2606 and the neck axis view orientation 2842 of the display unit. The display unit 2606 has been rotated about the neck pivot axis 2640 by moving the base support 2602, the arm support 2604, and the sliding member 2630 to the positions and / or orientations shown. For example, relative to Fig.26 The first pivot orientation shown is achieved by moving the slide member 2630 downwardly into the orientation shown (in Fig.28 2606 is moved to a third pivot orientation by linearly translating the second arm portion 2620 with the degree of freedom 2622 toward the user 2650 and away from the base support 2602 to the position shown and linearly translating the second base portion 2614 downward (e.g., toward the ground) to the position shown.

[0200] exist Fig.29 , the display unit 2606 is oriented in a fourth pivot orientation about the defined neck pivot axis 2640 to allow a further downward viewing angle for the user 2650. Angle A3 is an example angle of rotation of the display unit 2606 about the neck pivot axis 2640, where angle A3 is the angle between the horizontal view orientation 2642 of the display unit 2606 and the neck axis view orientation 2942 of the display unit. The display unit 2606 has been rotated about the neck pivot axis 2640 by moving the base support 2602, the arm support 2604, and the sliding member 2630 to the positions and / or orientations shown. For example, relative to Fig.28 The third pivot orientation shown is achieved by moving the slide member 2630 further downwardly into the orientation shown (in Fig.29 2606 is moved to a fourth pivot orientation by linearly translating the second arm portion 2620 with the degree of freedom 2622 toward the user 2650 and away from the base support 2602 to the position shown and linearly translating the second base portion 2614 downward (e.g., toward the ground) to the position shown.

[0201] exist Figure 26-Figure 29 In the example embodiment shown, the distance between the defined neck pivot axis 2640 and the tilt axis 2626 is fixed during rotation of the display unit about the defined neck pivot axis 2640 .

[0202] Fig.30 and Fig.31According to some embodiments Fig.26 26 is a side view of a portion of a display system 2600 showing rotation of a display unit about a defined eye pivot axis. Display system 2600 includes similar components to display system 2300 described above.

[0203] exist Fig.30 26, the display unit 2606 is oriented in a fifth pivot orientation about a defined eye pivot axis 2660 to allow an upward viewing angle for the user 2650. Angle A4 is an example angle of rotation of the display unit 2606 about the eye pivot axis 2660, where angle A4 is a horizontal eye axis view orientation 2662 of the display unit 2606 (e.g., Fig.26 The display unit 2606 has been positioned relative to the eye axis view orientation 3062 by moving the base support 2602, the arm support 2604, and the sliding member 2630 to the position and / or orientation shown. Fig.26 The first pivot orientation shown is rotated about the eye pivot axis 2660. For example, relative to Fig.26 In the first pivot orientation shown, by moving the slide member 2630 upwardly to the angle shown (in Fig.30 The display unit 2606 is moved to a fifth pivot orientation by linearly translating the second arm portion 2620 toward the base support 2602 and away from the user 2650 to the position shown (counterclockwise about axis 2626 from the viewpoint of the user), and linearly translating the second base portion 2614 downward (e.g., toward the ground) to the position shown (in this example, the movement is very small). The tilt axis 2626 is independent of the eye pivot axis 2660 because rotation of the display unit 2606 about the eye pivot axis 2660 can use rotation about the tilt axis 2626 as well as linear motion (translation) in degrees of freedom 2622 and 2616.

[0204] exist Fig.31 , the display unit 2606 is oriented in a sixth pivot orientation about the defined eye pivot axis 2660 to allow a downward viewing angle for the user 2650. Angle A5 is an example angle of rotation of the display unit 2606 about the eye pivot axis 2660, where angle A5 is the angle between the horizontal eye axis view orientation 2662 of the display unit 2606 and the eye axis view orientation 3162 of the display unit. The display unit 2606 has been rotated about the eye pivot axis 2660 by moving the base support 2602, the arm support 2604, and the sliding member 2630 to the positions and / or orientations shown. For example, relative to Fig.26 The first pivot orientation shown is achieved by moving the slide member 2630 downwardly into the orientation shown (in Fig.312606 is moved to a sixth pivot orientation by linearly translating the second arm 2620 with the degree of freedom 2622 away from the base support 2602 and toward the user 2650 to the position shown and linearly translating the second base portion 2614 upward (e.g., away from the ground) to the position shown.

[0205] exist Fig.30 and Fig.31 In this example embodiment, the eye pivot axis 2660 is located close to the tilt axis 2626. Therefore, rotation about the eye pivot axis 2660 is provided primarily by rotation about the tilt axis 2626 and does not require substantial movement of the second arm portion 2620 and the second base portion 2614. Other embodiments may have a greater distance between the eye pivot axis 2660 and the tilt axis 2626 and require greater movement of the second arm portion 2604 and the second base portion 2614.

[0206] Display system 2600 (and 2300) can provide for movement of the display unit about a user's neck pivot axis and / or eye pivot axis, similar to the above in Figure 8-14 , and 700 described above. In some embodiments for a particular defined pivot axis, the display system 2600 (and 2300) can provide such movement where the motion and / or range of movement required of the moving portions of the arm support 2604 and the base support 2602 is less overall than the motion and / or range of movement required for the display systems 300, 600, and / or 700. In these examples, this is due to the tilt axis 2626 of the display unit 2606 being closer to the neck pivot axis 2640 and the eye pivot axis 2660, thereby allowing the display unit 2606 to rotate about the tilt axis 2626 that is closer to the defined neck pivot axis or the defined eye pivot axis.

[0207] Fig.32 is a perspective view of another embodiment 3200 of a display system, and Fig.33 is a front view of a portion 3201 of a display system 3200 according to some embodiments, Fig.34 is a side view of a portion 3201 of a display system 3200 according to some embodiments, Fig.35 is a top view of a portion 3201 of a display system 3200 according to some embodiments, and Fig.36 is a bottom view of a portion 3201 of a display system 3200 according to some embodiments. In some examples, the display system 3200 can be used, for example, for Figure 1and the user control system 102 of the remote operation system described elsewhere in this document, or can be used in other systems or as a stand-alone system as described above. Unless otherwise specified, the features of the display system 3200 can be similar to those described above. Figure 3 Those features of display system 300 and / or display system 2300.

[0208] The display system 3200 includes a base support 3202, an arm support 3204, and a display unit 3206. The display unit 3206 is provided with multiple degrees of freedom of movement through a support linkage, which includes the base support 3202 and the arm support 3204 coupled to the base support 3202, wherein the display unit 3206 is coupled to the arm support 3204. In some embodiments, the base support 3202 and the proximal portion of the arm support 3204 (coupled to the base support 3202) can be the same as described above with reference to FIG. Figure 3-7 Implemented similarly to what is described in 23-25.

[0209] In some examples, base support 3202 is a vertical member that is mechanically grounded. Figure 3-7 Similar to the embodiments of 23-25, and including a first base portion 3212 and a second base portion 3214. The first base portion 3212 and the second base portion 3214 can be linearly coupled (e.g., telescopically coupled) and allow the second base portion 3214 to linearly translate relative to the first base portion 3212 with a linear degree of freedom 3216, wherein such translation can be driven by one or more actuators (e.g., motors), for example, as described above with reference to Fig.15 and 16 Other embodiments may use the same Figure 3-7 Different configurations similar to those described in embodiments 23-25.

[0210] The arm support 3204 is a horizontal member that is mechanically coupled to the base support 3202. The arm support 3204 can include a first arm portion 3218 and a second arm portion 3220. The first arm portion 3218 is a proximal portion of the arm support 3204 that is rigidly coupled to the second base portion 3214 of the base support 3202, and the second arm portion 3220 is a distal portion of the arm support 3204 that is linearly coupled to the first arm portion 3218 such that the second arm portion 3220 can be linearly translated with respect to the first arm portion 3218 with a linear degree of freedom 3222. In some examples, the proximal portion 3224 of the second arm portion 3220 can be telescopically coupled to the first arm portion 3218, for example, such that the portion 3218 or 3220 is telescopically coupled to the first arm portion 3218. Figure 2-7 A retractable portion similar to that described in embodiments 23-25. Figure 32-36 In the example of the embodiment of the present invention, the proximal portion 3224 of the second arm portion 3220 can linearly translate through the interior of the first arm portion 3218 with a linear degree of freedom 3222. The linear translation of the second arm portion 3220 relative to the first arm portion 3218 can be driven by one or more actuators (e.g., motors), some examples of which are about Fig.17 and 18 Other embodiments may use the same Figure 3-7 Different configurations similar to those described in embodiments 23-25. In some embodiments, the first arm portion 3218 and the second base portion 3214 can be considered a single piece, for example, an intermediate support or intermediate portion coupled between the first base portion 3212 and the second arm portion 3220, similar to those described above.

[0211] In some examples as shown, the arm support 3204 extends along a horizontal axis that is orthogonal to the vertical axis along which the base support 3202 extends. In some examples, the base support 3202 and the arm support 3204 are fixed in orientation relative to each other, for example, they translate but do not change orientation relative to each other. In some examples, the vertical axis extending through the base support 3202 extends through the first arm portion 3218 of the arm support 3204. In various embodiments, the arm support 3204 can extend at various heights and / or configurations, for example, below the user's head or body, at the height of the user's head, above the user's head, etc. Some embodiments may provide components in the display system 3200 to reduce vibrations in the supports and components of the display system 3200, such as for Figure 3-Figure 5 Similar to what described.

[0212] The second arm portion 3220 includes a proximal portion 3224 coupled to the first arm portion 3202 as described above and a yoke portion 3226 rigidly coupled to the proximal portion 3224. In the described embodiment, the yoke portion 3226 includes two yoke members 3228a and 3228b (collectively referred to as 3228), which extend in a horizontal plane orthogonal to the plane defined by the proximal portion 3224 and the base member 3202. The yoke member 3228 extends from the proximal portion 3224 in generally opposite directions and then in a parallel direction parallel to the proximal portion 3224, forming a generally U-shape as shown. In other embodiments, the yoke member can extend in various directions (e.g., in an approximately V-shaped shape or other shapes).

[0213] The display unit 3206 includes a Figure 3-7 and / or Figure 23-Figure 25The display unit 3206 is rotatably coupled to the arm support member 3204. In these embodiments, the display unit 3206 is positioned between the distal ends of the yoke member 3228 and is rotatably coupled to the distal ends of the yoke member 3228. In this example, the display unit 3206 is coupled to the beam 3244, and the beam 3244 is rotatably coupled to the yoke member 3228. For example, the axis 3229a of the beam 3244 is rotatably coupled to the yoke member 3228a, and the axis 3229b of the beam 3244 is rotatably coupled to the yoke member 3228b. When the beam 3244 rotates, the display unit 3206 rotates with the beam. In some embodiments, for example, if a yaw motion is not implemented for the display unit 3206, the axis 3229 can be rigidly coupled to the display unit 3206 without using the beam 3244.

[0214] The display unit 3206 can rotate with a rotational (tilt) degree of freedom 3232 about a tilt axis 3230 relative to the arm support 3204 and the base support 3202. The tilt axis 3230 extends through the distal end of the yoke member 3228 and can be aligned with or parallel to the length of the shafts 3229a and 3229b, for example. In some embodiments, the tilt axis 3230 is oriented orthogonal to the plane defined by the linear degrees of freedom 3216 and 3222 provided to the display unit 3206 by the base support 3202 and the arm support 3204. For example, the tilt degree of freedom 3232 can be provided in a vertical plane that is the same as or parallel to the vertical plane in which the degrees of freedom 3216 and 3222 are provided by the base support 3202 and the arm support 3204. In some embodiments, the base support 3202 and the arm support 3204 can be considered a support linkage having the display unit 3206 coupled at the distal end of the support linkage.

[0215] The display unit 3206 can be moved in two linear degrees of freedom provided by the linear translation of the second base portion 3214 and the second arm portion 3220. For example, these linear degrees of freedom can be provided in a vertical plane. In some examples, as shown, the vertical plane can be defined by the proximal portion 3224 of the base support 3202 and the arm support 3204.

[0216] The display unit 3206 can rotate about a defined pivot axis based on the translation provided by the first arm portion 3214 and the second arm portion 3220 and by rotation about the tilt axis 3230 permitted by the rotational coupling of the display unit 3206 to the yoke portion 3226. The rotation about the defined pivot axis can be similar to that described above for Figure 3-7 and 23-25 ​​of the embodiments described herein, and with respect to Fig.39 Further description.

[0217] The rotational movement of the display unit 3206 about the tilt axis 3230 can be driven by one or more actuators (e.g., motors). Fig.33 , 35 36) can be rigidly coupled to one of the yoke members 3228 (or a corresponding motor is coupled to each yoke member 3228), and the rotational axis of the motor 3236 can be coupled to the beam 3244 (e.g., one of the shafts 3229), and the beam 3244 is coupled to the display unit 3206. In some embodiments, a drive mechanism can be coupled to the motor 3236, such as a gear mechanism or a Fig. 22 3244 and the display unit 3206 are similar to the winch mechanism shown in FIG. In the example winch mechanism, the winch drum is coupled to the driven shaft 3229 (or elsewhere on the crossbeam 3244), and the winch pulley is coupled to the shaft of the motor 3236, wherein one or more cables are coupled between the drum and the pulley. The motor 3236 can be controlled by a control signal from a control circuit (e.g., a control system) to move the crossbeam 3244 and the display unit 3206 to a specific orientation around the tilt axis 3230 with the tilt degree of freedom 3232.

[0218] In some embodiments, the display unit 3206 is additionally rotatably coupled to the yoke portion 3226 of the arm support 3204 to allow the display unit 3606 to rotate about the yaw axis 3240 with a yaw degree of freedom 3242 relative to the arm support 3204 and the base support 3202. For example, this may be a lateral or left-right rotation from the viewpoint of a user viewing an image of the display unit 3206 via a viewport, for example. Figure 32-36 In the example of , the display unit 3206 is coupled to the yoke portion 3226 by a rotation mechanism, which can be a track mechanism. In some embodiments, the track mechanism can be similar to the track mechanism described above in the embodiment providing yaw axis movement. For example, the track mechanism can include a crossbeam 3244 and an arcuate track support, which includes an arcuate track 3246. The arcuate track 3246 can slidably engage the groove member 3248, for example, with the above for Figure 3 and 22 The display unit 3206 moves along an arc path constrained by the arc track 3246, thereby causing the display unit 3206 to rotate about the yaw axis 3240 with a rotational degree of freedom 3242. Fig.37 and Fig.38Additional examples are described. For example, the arc track 3246 can be rigidly coupled to the cross beam 3244 (which is rigidly coupled to the yoke portion 3226 with respect to the yaw degree of freedom), and the groove member 3248 can be rigidly coupled to the display unit 3206. Alternatively, the groove member can be rigidly coupled to the cross beam 3244, and the arc track can be rigidly coupled to the display unit 3206. In some embodiments, additional groove members can be provided along the length of the arc track 3246.

[0219] In some embodiments, a different mechanism may be used to provide rotation of the display unit 3206 about the yaw axis 3240. In some examples, the arc track 3246 may be an arc cam follower that engages a cam roller, similar to the above for Figure 3-Figure 5 And / or similar to the yaw movement implementation described in 23-25.

[0220] The curvature (e.g., radius) of the arcuate track 3246 and / or the groove member 3248 is selected to provide the yaw axis 3240 at a specific distance from the user-facing side of the display unit 3206 and / or from the tilt axis 3230. For example, the yaw axis 3240 can be provided at a horizontal distance (parallel to the horizontal degree of freedom 3222) from the display unit 3206 so that it substantially intersects a defined (virtual or software-defined) neck pivot axis corresponding to a pivot axis in the user's neck, as described below. In some embodiments, the defined neck pivot axis can be used as a reference for the movement of the display unit 3206. In the described embodiments, the angle between the yaw axis 3240 and the vertical axis (e.g., parallel to the degree of freedom 3216) changes based on the orientation of the display unit 3206 about the tilt axis 3230.

[0221] The yaw motion of the display unit 3206 about the yaw axis 3240 can be driven by one or more actuators (e.g., motors). For example, a rotary motor (not shown) can be rigidly coupled to the display unit 3206 and can include a rotatable shaft that outputs a force on the display unit 3206 about the yaw axis 3240 using a drive transmission (e.g., a winch drive mechanism, a gear mechanism, etc.). In some examples, the drive transmission can include, for example, the same as described above with reference to Fig. 223240 . A capstan drive mechanism similar to the capstan drive mechanism described above can be used. For example, a driven shaft of a motor can be coupled to a capstan pulley, and a cable can be attached to both ends of a capstan drum, which is rigidly coupled to an arc track 3246, wherein the cable is wound around the capstan pulley (or two cables can be attached between the respective ends of the capstan pulley and the capstan drum). The motor rotates the capstan pulley to move (one or more) cables (e.g., winding and unwinding (one or more) cables on the pulley), thereby rotating the capstan drum, the arc track 3246, and the display unit 3206 around the yaw axis 3240. In some embodiments, the motor and / or the drive transmission device may be at least partially located within the housing of the display unit 3206. For example, the capstan drum can be positioned on a side of the track member 3244 or the beam 3244 opposite to the user position, and the capstan pulley can be placed near the capstan drum away from the user position. In some embodiments, other transmissions and / or couplings may be used to provide rotational movement of the display unit 3206 relative to the track member 3244 and the arm support 3204 about the yaw axis 3240 .

[0222] The display system 3200 thus provides the display unit 3206 with vertical linear degrees of freedom 3216, horizontal linear degrees of freedom 3222, rotational tilt degrees of freedom 3232, and rotational yaw degrees of freedom 3242. For example, the vertical and horizontal degrees of freedom allow the display unit 3206 to be moved to any position within a range of motion or allowed workspace (e.g., within a vertical plane), and the tilt degree of freedom allows the display unit to be moved to a specific orientation within its range of motion (e.g., within a vertical plane or a parallel vertical plane).

[0223] The combination of coordinated movement of the components of the display system 3200 in at least two of these degrees of freedom allows the display unit 3206 to be positioned at various positions and orientations in its workspace, e.g., translated or rotated around the user, to facilitate a customized viewing experience for the user, similar to the above description of the display system 3200. Figure 3-7 In addition, the degrees of freedom of the display unit 3206 also or alternatively allow the display system 3200 to provide movement of the display unit 3206 in physical space around a defined pivot axis, which can be positioned at any of a variety of positions in the working space of the display unit 2306, similar to those described above, for example, an eye pivot axis, a forehead pivot axis, a neck pivot axis, etc.

[0224] The display unit 3206 may include input devices to allow a user to provide input to manipulate the orientation and / or position of the display unit 3206 in space, and / or to manipulate other functions or components of the display system 3200 and / or a larger system (e.g., a remote operation system). Figure 3-Figure 5Some examples of input devices are described (e.g., hand input device 340 and head input device 342), and such input devices can be used in display system 3200, for example, provided on the side and / or front-facing surface of display unit 3206 in a similar manner. User input provided from such input devices can be used in conjunction with the above referenced Figure 3-14 The movement of the display unit 3206 and / or displayed images and other components is similarly controlled as described.

[0225] In some embodiments of the display system, the display unit 3206 can rotate about the yaw axis 3240 with a degree of freedom 3242, and one or more of the other degrees of freedom 3216, 3222, and / or 3232 are omitted from the display system 3200. For example, the display unit 3206 can rotate about the yaw axis 3240 (e.g., via actuator(s) and / or manually by a user), and the display unit 3206 can be manually positioned higher and / or lower (e.g., via actuator(s) and / or manually by a user), for example, using the base support 3202 or other mechanism, with the horizontal degree of freedom 3222 and / or the tilt degree of freedom 3232 omitted.

[0226] Fig.37 and Fig.38 yes Fig.32 A perspective view of portion 3201 of display system 3200 is shown. A perspective view of the bottom of yoke portion 3226 and display unit 3206 is shown.

[0227] exist Fig.37 , the display unit 3206 is shown in a centered yaw orientation about the yaw axis 3240. For example, the groove member 3248 is rigidly coupled to the display unit 3206 and is centered along the arcuate length of the track member 3246.

[0228] exist Fig.38 , display unit 3206 is shown as being in a relative Fig.37Changed orientation about yaw axis 3240. For example, groove member 3248 has moved along track member 3246, thereby causing display member 3206 to move to the left, for example, if viewed from the bottom of display unit 306, clockwise about yaw axis 3240. As shown, track member 3246 can have an arc length that provides a limited rotation range for display member 3206 within the space between yoke members 3228, so that display member 3206 can rotate about yaw axis 3240 without impacting or contacting yoke members 3228. For example, to achieve such limited rotational yaw range, the arc track can extend through (or be provided as) a central portion of beam 3244. In this example, the arc track does not extend outside of the central portion, thereby preventing groove member 3248 from moving outside of the central portion. In some embodiments, a stopper can be positioned at the end of track member 3246 to prevent groove member 3248 from moving beyond the length of track member 3246.

[0229] Fig.39 According to some embodiments Fig.32 A side view of a portion 3201 of a display system 3200 illustrating rotation of a display unit for use by a user. Fig.39 3222. In an example embodiment, the display unit 3206 is in a pivoted orientation about a defined neck pivot axis 3902, which can be generally horizontal and can extend generally parallel to the tilt axis 3230, e.g., orthogonal to a plane defined by degrees of freedom 3216 and 3222. In an example embodiment, the neck pivot axis 3230 can be positioned to intersect the head or neck of a user 3950 of the display unit 3206. For example, the neck pivot axis 3902 can be similar to the neck pivot axes 840 or 2640 described above. Movement of the base support 3202, the arm support 3204, and the display unit 3206 about the tilt axis 3230 can provide rotation about the neck pivot axis 3902. The neck pivot axis 3920 can be positioned to intersect the head or neck of a user 3950 of the display unit 3206. Fig.39 The neck pivot axis may be defined by the movement of the components as they rotate about the desired neck pivot axis. These and other features (e.g., guiding the user to determine a defined neck pivot axis) may be similar to those described with respect to Figure 8 Those characteristics described.

[0230] The viewing orientation of the display unit 3206 relative to the neck pivot axis 3902 is indicated by line 3904. Fig.393904 extends through the neck pivot axis 3902 and is oriented in this example to provide a downward angle relative to the horizontal line 3905. Rotation of the display unit 3206 about the neck pivot axis 3902 is achieved by moving the portion 3214 of the base support 2602, the portion 3220 of the arm support 2604, and the display unit 3206 to the appropriate position and / or orientation. This movement can in principle be similar to the rotation of the display unit 3206 about the neck pivot axis 3902. Figure 6-11 and / or the movements described in 26-29, but due to the different positions of the tilt axis 3230, one or more movement directions and amplitudes may be different.

[0231] Fig.39 A defined eye pivot axis 3906 is also shown. The defined eye pivot axis 3906 is positioned at a position corresponding to (e.g., coincident with) an eye axis that intersects an eye of a typical user (such as a user 3950 who is viewing through a viewport of the display unit 3206 or at a display device when the display unit 3206 is oriented in a centered yaw rotational orientation about the yaw axis 3240 as shown). In some embodiments, the defined eye pivot axis extends substantially parallel to the tilt axis 3230 (e.g., orthogonal to the plane defined by the degrees of freedom 3216 and 3222). The defined eye pivot axis can be orthogonal to the view orientation of the display unit 3206 when the display unit 3206 is oriented in a centered yaw rotational orientation about the yaw axis 3240 as shown. The view orientation of the display unit 3206 relative to the eye pivot axis 3906 is indicated by the line of sight 3908, where Fig.26 3908 extends through the eye pivot axis 3906 and is oriented in this example to provide a downward viewing angle relative to the horizontal line of sight 3907. The movement of the display unit 3906 about the defined eye pivot axis 3906 can in principle be similar to that with respect to Figure 12-14 30-31, but one or more of the movement directions and magnitudes may be different due to the different positions of the tilt axis 3230. Movement of the display system 3200 about other defined pivot axes of the display unit 3206 (e.g., a forehead pivot axis or a hand input device axis) may be implemented similarly to movement about the neck and / or eye pivot axes.

[0232] The display system 3200 may position the tilt axis 3230 more precisely than in other embodiments (e.g., such as Figure 3-7In some embodiments for a particular defined pivot axis, the display system 3200 can provide movement of the display unit 3206 where the motion and / or range of movement required of the moving portions of the arm support 3204 and the base support 3202 is less overall than the motion and / or range of movement required of the display system 300, 600, and / or 700. In these examples, this is due to the tilt axis 3230 of the display unit 3206 being closer to the neck pivot axis 3240 and the eye pivot axis 3260, thereby allowing the display unit 3206 to rotate about a tilt axis 3226 that is closer to the defined neck pivot axis or the defined eye pivot axis.

[0233] Fig.40 is a perspective view of an example device portion 4000 of a control input device that can be used in one or more embodiments described herein. In some embodiments, device portion 4000 can be used as described above with reference to Figure 1 and 2 A portion of the control input device 210 or 212 is described, which can be used with any of the various display system embodiments described herein. In some embodiments, the device portion 4000 includes one or more gimbal mechanisms.

[0234] In some embodiments, device portion 4000 can be a mechanically grounded controller. For example, device portion 4000 can be coupled to a mechanical linkage that is coupled to the ground or an object connected to the ground, thereby providing a stable platform for use of device portion 4000.

[0235] Device portion 4000 includes a handle 4002 that is contacted by a user to manipulate the control input device. In this example, handle 4002 includes two grips, each of which includes a finger ring 4004 and a grip member 4006 (grip members 4006a and 4006b). Two grip members 4006 are positioned on opposite sides of a central portion 4003 of handle 4002, wherein grip members 4006 can be grasped, held or otherwise contacted by a user's fingers. Each finger ring 4004 is attached to a corresponding grip member 4006 and can be used to secure a user's finger to the associated grip member 4006. Finger contact portions 4005 can be connected or formed at the unconnected ends of grip members 4006a and 4006b to provide a surface for contacting a user's fingers.

[0236] Each grip member 4006 and finger ring 4004 can move with associated degrees of freedom 4008 (e.g., 4008a and 4008b). In some examples, grip members 4006a and 4006b are coupled to the central portion 4003 of the handle 4002 at respective rotational couplings, thereby allowing rotational movement of the grip members relative to the central portion 4003 around grip axes 4007a and 4007b, respectively. Each grip member 4006a and 4006b can move with associated degrees of freedom 4008a around axis 4007a and degrees of freedom 4008b around axis 4007b, respectively, such as by a user contacting the grip members. For example, in some embodiments, grip members 4006a and 4006b can move simultaneously in a clamp-type movement (e.g., toward or away from each other). In various embodiments, a single grip member 4006 and finger ring 4004 may be provided, or only one of the grip members 4006 may be movable in degrees of freedom 4008, while the other grip member 4006 may be fixed relative to the handle 4002. For example, the orientation of the grip members 4006a and 4006b in their degrees of freedom may control the corresponding rotational orientation of the end effector or other manipulator instrument. One or more grip sensors (not shown) may be coupled to the handle 4002 and / or other components of the device portion 4000, and may detect the orientation of the grip members 4006a and 4006b in their degrees of freedom 4008. Some embodiments may provide one or more active actuators (e.g., motors, voice coils, etc.) that output active forces on the grip members 4006 in degrees of freedom 4008, or passive actuators (e.g., brakes) or springs between the grip members 4006 and the center portion 4003 of the handle 4002 that provide resistance in the direction of the grip.

[0237] The handle 4002 is also provided with a rotational degree of freedom 4010 about a roll axis 4012 defined between a first end and a second end of the handle 4002. In this example, the roll axis 4012 is a longitudinal axis extending generally along the center of the center portion 4003 of the handle 4002. For example, a user can rotate the grip member 4006 and the center portion 4003 as a single unit relative to a base of the controller portion 300 (such as the housing 4009) about the axis 4012 to provide control of the manipulator system components. One or more control input sensors (not shown) can be coupled to the handle 4002 to detect the orientation of the handle 4002 in the rotational degree of freedom 4010. Some embodiments can provide one or more actuators that output forces on the handle 4002 in the rotational degree of freedom 4010.

[0238] The provided sensors may send signals describing the sensed position, orientation, and / or motion to one or more control circuits (e.g., a control system of the teleoperation system 100). In some modes or embodiments, the control circuits may provide control signals to a manipulator system (e.g., manipulator system 104) to, for example, control any of the various degrees of freedom of an end effector or other instrument of the manipulator system 104.

[0239] In various embodiments, the handle 4002 may be provided with a limited additional degree of freedom. For example, a rotational degree of freedom 4020 around a controller yaw axis 4022 may be provided to the handle 4002 at a rotational coupling between an elbow link 4024 and a link 4026, wherein the elbow link 4024 is coupled to the handle 4002 (e.g., at the housing 4009). In this example, the controller yaw axis 4022 intersects and is orthogonal to the roll axis 4012. Additional degrees of freedom may be provided similarly. For example, the link 4026 may be elbow-shaped, and a rotational coupling may be provided between the other end of the link 4026 and another link (not shown). A rotational degree of freedom 4028 around an axis 4030 may be provided to the handle 4002 at a rotational coupling. In some examples, the device portion 4000 may allow the handle 4002 to move in a plurality of degrees of freedom (e.g., six degrees of freedom including three rotational degrees of freedom and three translational degrees of freedom) within the workspace of the user control system 102. One or more additional degrees of freedom can be sensed by control input sensors and / or actuated by actuators (motors, etc.), similar to what is described above for degrees of freedom 4008 and 4010. In some embodiments, each additional degree of freedom of handle 4002 can control a different manipulator degree of freedom (or other motion) of an end effector of manipulator system 104.

[0240] In various embodiments, various kinematic chains, linkages, gimbal mechanisms, flexible structures, or combinations of two or more of these can be used with device portion 4000 to provide one or more degrees of freedom to the controller portion. Some additional examples of linkages and / or gimbal mechanisms that can be used with device portion 4000 are described in U.S. Pat. No. 6,714,839 B2, which is incorporated herein by reference.

[0241] In the described example, the handle 4002 includes, for example, one or more control switches 4050 coupled to the central portion 4003. In some embodiments, the control switch 4050 can be moved to various positions to provide specific command signals, for example, to select a function, option or mode (for example, a control mode or non-control mode as described herein, or a mode associated with the display system 300, 600, 700, 2300 or 3200) of the user control system and / or control input device. In some embodiments, the control switch 4050 can be implemented as a button, a rotary dial, a switch or other types of input controls. The control switch 4050 can use an optical sensor, a mechanical switch, a magnetic sensor or other types of sensors to detect the position of the switch. In some embodiments, the handle 4002 also includes a presence sensing system, which includes one or more presence sensors that can detect the presence of the user's hand operating the handle and / or the hand positioned near the handle.

[0242] One or more display system features described herein can be used with other types of control input devices. For example, a non-grounded control input device 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 4002 and / or grip member 4006 can be coupled to a mechanism worn on the user's hand and non-grounded, thereby allowing the user to freely move the grip in space. In some examples, the position or orientation of the grips relative to each other and / or other parts of the handle can be sensed by a mechanism that couples the grips together and constrains their movement relative to each other. Some embodiments can use a glove structure worn by the user's hand. In addition, some embodiments can use sensors coupled to other structures to sense grips in space, for example, using a video camera or other sensors that can detect movement in 3D space. Some examples of non-grounded control input devices are described in U.S. Patent Nos. 8,543,240B2 (filed on September 21, 2010) and US8,521,331B2 (filed on November 13, 2008), which are incorporated herein by reference in their entirety.

[0243] Fig.41 is a flow chart illustrating an example method 4100 for operating a display system including one or more features described herein, according to some embodiments. In some embodiments, the method can be used, for example, with an example teleoperation system or other control system, where the display system cooperates with a teleoperation manipulator system to provide a displayed view. For example, in some embodiments, the method can be used Figure 3 Display system 300, Figure 6 Display system 600, Figure 7 Display system 700, Fig.23 Display system 2300 or Fig.32 Display system 3200.

[0244] In some examples, the display system can be used to remotely operate a system (such as Figure 1 In the method 4100, a display system is operated by a user who also operates one or more control input devices with his or her (one or both) hands. A master-slave control relationship can be established between the control input devices and the manipulator system, wherein the position and orientation of the control input devices are sensed and transmitted to, for example, a controller, a control system in the manipulator system, and / or to a separate control system. In some examples, movement of the control input devices in space causes corresponding movement of other components of the controlled instrument or manipulator system, and / or other functions of the manipulator system can be controlled. User inputs and controls associated with such remotely operated system components are not described in method 4100.

[0245] Other implementations of method 4100 may use a display system having one or more of the described features with other types of systems (e.g., a non-remotely operated system, a virtual environment implemented on a processing device and not having a physical manipulator system and / or not having physical objects that interact with the physical manipulator system, etc.). In some implementations, the method may be performed in part or in whole by a control circuit component (e.g., a control system). In some examples, the control circuit may include one or more processors, such as microprocessors or other control circuits, some examples of which are described below with reference to Fig.42 Give a description.

[0246] In block 4102, a pivot axis of a display unit of a display system is defined, wherein the display unit provides a display of an image for viewing by a user (e.g., display unit 306, 606, or 706 as described herein). The display unit will rotate about the defined pivot axis. In some cases or embodiments, the defined pivot axis coincides with an axis of rotation of a mechanical component of the display system (e.g., a tilt axis 326, 626, or 726 of a tilt member as described herein). In some embodiments, the defined pivot axis is a virtual axis based on a combination of coordinated movement of components of the display system and does not correspond to an axis of rotation of any particular mechanical component of the display system. For example, the virtual pivot axis can be a horizontal axis, such as an eye pivot axis, a neck pivot axis, a forehead pivot axis, or a hand input device pivot axis as described herein in various embodiments.

[0247] In some embodiments, the defined pivot axis can be changed to different positions in different operating modes of the display system or at different operating times of the display system. In some embodiments, the defined pivot axis can be adjusted by the user. For example, the defined pivot axis can be determined based on a user input received by the display system, for example, via a user input device (such as a keyboard, a touch screen, etc.) communicating with the display system. In some examples, the user input can specify one of a plurality of predetermined settings, each of which is set to define the pivot axis at a different specific position in the workspace of the display unit of the display system. For example, one setting can define a specific eye pivot axis, and a different setting can define a specific neck pivot axis. In another example, the user input can adjust the position of the pivot axis. For example, the user input can specify that the defined pivot axis is moved a specific distance in space along any one of the three dimensions. For example, the user input can indicate that the predetermined eye pivot axis moves 5 millimeters in the vertical direction and moves 2 millimeters in the horizontal direction (e.g., toward the base support, such as the base support 302).

[0248] In block 4104, the display unit is activated for operation. In some embodiments, one or more presence sensors are provided on the display system to sense the presence of a user in a position to operate the display system (e.g., viewing the display of the display unit). The display unit can be activated and enabled to be moved by user input in response to detecting the presence of the user. For example, the presence sensor can detect whether the user's head is positioned proximate to a viewing port or window in the display unit. In some embodiments, the display unit can be used to remotely operate the system (such as Figure 1 In a system 100) in which the display unit is operated by a user who also operates one or more control input devices with his or her (one or both) hands.

[0249] In block 4106, a user input is received to direct the display unit to rotate and / or translate vertically, for example, in a vertical plane. For example, the user input may be provided by a user input device of the display system (such as a display device as described in reference to FIG. Figure 3The user input may be received from user input devices 340 and / or 342 on the display unit described above. User input may also be received from user input devices provided on other components of the display system and / or from user input devices of a system including the display system or used in conjunction with the display system (e.g., a control input device of a remote operation system). In one example, the user input may indicate a force output by an actuator of the vertical base support, the horizontal arm support, and the tilt mechanism to move the display unit about a defined pivot axis. In some embodiments, the user input may indicate translation of the display unit in its workspace. In some embodiments, the user input indicates manipulation of an image displayed by the display unit and / or manipulation of other controlled devices based on the indicated movement of the display unit.

[0250] In block 4108, one or more actuators of the display system are controlled based on the user input to rotate and / or translate the display unit in a vertical plane. For example, the actuator(s) may be controlled to rotate the display unit in a vertical plane about a pivot axis determined in block 4102, as described herein. In some embodiments as described herein, the base support, arm support, and / or tilt member are moved by the actuators simultaneously and in a coordinated combination to cause the display unit to rotate about a defined pivot axis based on the user input. In some embodiments, the display unit may be linearly translated in a vertical plane based on the user input, for example, based on linear movement provided by the base support and / or arm support.

[0251] In some embodiments, an image or user interface control displayed by a display unit is manipulated according to user input and / or according to movement of the display unit in a vertical plane. For example, a view of a displayed image may be moved according to user input and / or movement of the display unit. In other examples, user input may manipulate a displayed user interface, a virtual environment, or other displayed views or elements provided by a display system. For example, user interface features such as a cursor, a scroll bar, a list, a menu, selection of graphical elements, etc. may be moved or manipulated according to user input and / or movement of the display unit. In some examples, such a user interface may be superimposed on a displayed captured view of a workstation, or may be displayed to the side (or sides) of the captured view.

[0252] In some embodiments, the functions of the manipulator system can be manipulated based on user input and / or display unit movement. For example, an actuator of the manipulator system can be controlled to move an image capture device (e.g., a camera) of the manipulator system in relation to movement of the display unit, for example, translating and / or rotating the camera based on corresponding movement of the display unit in its workspace. Image data is received from the image capture device and displayed by a display device of the display unit. The actuator is controlled based on commands sent from the control system to the manipulator system, wherein the commands are based on user input and / or movement of the display unit. Different manipulator instruments can be controlled (e.g., via control input devices 210 and / or 212) to move at least partially simultaneously with movement of the manipulator image capture device controlled via the display unit, so that a user can control the manipulator image capture device to change the field of view of the slave work site displayed in the display unit, while the user also controls different manipulator instruments to perform tasks in a teleoperation procedure at the manipulator work site viewed via the display unit.

[0253] In some examples, additional examples of remote operation system functions that may be manipulated by user input may include a swap function that causes control of a first manipulator arm or instrument to be swapped to a second manipulator arm or instrument; energy output for a manipulator instrument; irrigation or suction at the surgical site; a clutch function that selects a control mode and a non-control mode; and the like.

[0254] In block 4110, a yaw user input is received that directs the display unit to rotate about a yaw axis (lateral rotation axis) (e.g., a left or right (lateral) rotation of the display unit about a vertical axis from the user's perspective). For example, the yaw user input may be received from a similar user input device as described for block 4106, and / or from another user input device of a display system or other system that is different from the user input device that provided the user input of block 4106. In various embodiments, the user input may instruct the display unit to rotate left about the yaw axis, to translate the display unit linearly to the left, to manipulate an image or user interface element displayed by the display unit, and / or to manipulate another controlled device.

[0255] In block 4112, one or more actuators of the display system are controlled based on the user input to rotate the display unit about the yaw axis. Figure 3-Figure 5 , Fig. 22 , Figure 23-Figure 25 or Figure 32-38The actuators of the described track mechanisms can be used to rotate the display unit about the yaw axis 330, 630, 730, 2332, or 3240. In one example, a user input directing rotation to the left (e.g., counterclockwise as viewed from above) causes the actuator to output a force that moves the display unit counterclockwise about the yaw axis. In some embodiments, an image or user interface displayed by the display unit and / or other controlled device is manipulated based on the movement of the display unit, similar to that described for block 4108.

[0256] Blocks 4106 and 4110 may be performed in any order and / or partially or completely simultaneously, such that, for example, a user input to rotate / translate the display unit in the vertical plane may be received simultaneously with a user input to rotate the display unit about the yaw axis. Similarly, blocks 4108 and 4112 may be performed in any order and / or partially or completely simultaneously based on the received user input.

[0257] Blocks 4106 through 4112 are repeated based on additional received user inputs indicating that the display unit is moved vertically and / or about the yaw axis. Other user inputs may be received that disable display unit operation, cause block 4102 to be executed to change the position of a defined pivot axis, or perform other functions of the display system.

[0258] The square blocks and operations described in the method disclosed herein can be performed in a different order from that shown and / or performed simultaneously with other square blocks and operations (partially or completely) in appropriate circumstances. Some square blocks and operations can be performed for a part of data, and later, for example, performed again for another part of data. Not all described square blocks and operations need to be performed in various embodiments. In some embodiments, square blocks and operations can be performed in the method many times, in different orders and / or at different times.

[0259] Outputs such as tactile feedback on the display unit and / or visual output on the display device may be provided by the system to assist a user in operating the display system and / or the remote operating system. For example, the user interface may display warning and / or error feedback on the display device, and / or may provide an audio output to indicate such a warning or error. Such feedback may indicate, for example, reaching the limit of the range of motion of the display unit, moving the display unit so that a particular object being displayed will be moved out of the view of the display unit, etc.

[0260] In various embodiments, other types of computer-assisted teleoperation systems other than surgical systems can be used with one or more display system features described herein. Such teleoperation systems can include various forms of controlled manipulator systems. For example, submersibles, hazardous materials or device processing units, industrial applications, applications in harsh environments and work sites (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 with a first-person view) can utilize a remote operation system including a manipulator or slave system for sensory transmission (visual, auditory, etc. experiences conveyed), manipulation of workpieces or other physical tasks, etc., and mechanically grounded and / or non-grounded control input devices can be used to remotely control the manipulator system and the display system to view the work site of the manipulator system. Any such teleoperation system can be used with any of the various display system features described herein.

[0261] Fig.42 is a block diagram of an example master-slave system 4200 that may be used with one or more implementations described herein.

[0262] As shown, the system 4200 includes a master device 4202 that a user can manipulate to control a slave device 4204 that communicates with the master device 4202. In some embodiments, the master device 1002 can be, or can be included in, any user control system described herein. In some embodiments, the slave device 1004 can be Figure 1 The manipulator system 104 may include Figure 1 4202. More generally, the master device block 4202 may include one or more of various types of devices that provide one or more control input devices that can be physically manipulated by a user. For example, the master device 4202 may include a system of one or more master control devices, such as one or more hand controllers (e.g., master control devices 210 and 212 or other hand controllers described herein).

[0263] The master device 4202 generates control signals Cl to Cx indicating the position and orientation, state and / or change of one or more controllers in their degrees of freedom. For example, the master device 4202 can generate control signals indicating the selection of input controls (e.g., physical buttons), hand controller states, and other manipulations of the hand controller by the user. The control signals can be sent via a wired connection or wirelessly.

[0264] The control system 4210 may be included in the master device 4202, in the slave device 4204, or in a separate device (e.g., an intermediate device communicatively connected between the master device 4202 and the slave device 4204). In some embodiments, the control system 4210 may be distributed among a plurality of these devices.

[0265] In the example system, the control system 4210 receives the control signals Cl to Cx and generates actuation signals A1 to Ay that are sent to the slave device 4204. The control system 4210 may also receive sensor signals B1 to By indicating the position and orientation, state and / or changes of various slave components (e.g., manipulator arm elements) from the slave device 4204. These actuation and / or sensor signals may be sent via a wired connection or wirelessly.

[0266] The control system 4210 may include components such as a processor 4212, a memory 4214, and interface hardware 4216 and 4218 such as a master interface and a slave interface for communicating with the master device 4202 and the slave device 4204, respectively. The processor 4212 can execute program code and control the operation of the system 4200, including operations related to processing sensor data from the display unit and commands such as the modes and components described herein. The processor 4212 may include one or more processors of various types, including microprocessors, application specific integrated circuits (ASICs), and other electronic circuits. The memory 4214 may store instructions for execution by the processor, and may include any suitable processor-readable storage medium, such as a random access memory (RAM), a read-only memory (ROM), an electrically erasable read-only memory (EEPROM), flash memory, etc. For example, the processor 4212 and the memory 4214 implement control between the master control device 4202 and the slave device 4204.

[0267] The control system 4210 includes programmed instructions (computer readable media storing instructions) to implement appropriate operations and blocks of the methods according to aspects disclosed herein. The system may include multiple data processing circuits, wherein a portion of the processing is optionally performed on or near the slave device 4204, another portion of the processing is performed at the master device 4202, and so on. Any of a variety of centralized or distributed data processing architectures can be adopted. Similarly, the programming instructions can be implemented as multiple separate programs or subroutines, or they can be integrated into multiple other aspects of the remote operating system described herein. In one embodiment, the control system 4210 supports one or more wireless communication protocols, such as Bluetooth, IrDA, HomeRF, IEEE 802.11, DECT, and wireless telemetry.

[0268] Various other input and output devices may also be coupled to the control system 4210. The output devices may include one or more display units as components of the display system 4220. For example, the display system 4220 may be similar to the display systems 300, 600, 700, or 2300 described herein. The display system 4220 receives command and / or data signals E from the control system 4210 to cause the display of an image (e.g., a digital image composed of a plurality of pixels). The image may be generated by the control system or other systems (e.g., graphical elements and animations in a user interface that allow selection of commands for remotely operating the system), and / or the image may be derived from data captured by an image capture device positioned at a slave device or other location. The display system 4220 also provides command signals Fi to Fx to the control system 4210 to control the functions of the display system, including the movement of a display unit (e.g., display unit 306, 606, 706, or 2306) in space as described herein. For example, the command signals Fi to Fx may be generated based on user manipulation of a user input device (as described herein) and / or based on detected events or other conditions. In some implementations, the display system 4220 can enable or disable (eg, follow or ignore) commands Fi to Fx based on the state of the remote operating system or control system 4210 .

[0269] In this example, the control system 4210 includes a mode control module 4240, a control mode module 4250, and a non-control mode module 4260. Other embodiments may use other modules, such as a force output control module, a sensor input signal module, etc. As used herein, the term "module" may refer to a combination of hardware (e.g., a processor, such as an integrated circuit or other circuit) and software (e.g., a machine or processor executable instructions, commands or code, such as firmware, programming or object code). The combination of hardware and software may include hardware only (i.e., hardware elements without software elements), software hosted by hardware (e.g., software stored at a memory and executed or interpreted by a processor or at a processor), or a combination of hardware and software hosted at hardware. In some embodiments, modules 4240, 4250, and 4260 may be implemented using a processor 4212 and a memory 4214, for example, program instructions stored in the memory 4214 and / or other memory or storage devices connected to the control system 4210.

[0270] The mode control module 4240 can detect when the user initiates the control mode and non-control mode of the system, for example, through user selection of a control, sensing the presence of a user using a master controller, sensing a desired manipulation of a master controller, etc. The mode control module can set the control mode or non-control mode of the control system 4210 based on one or more control signals Cl to Cx. For example, if the user detection module detects that the user is in a suitable position to use the control input device(s) and the signal (e.g., one or more signals Cl to Cx) indicates that the user has contacted the control input device(s), the mode control module 4240 can activate the control mode operation. If no user touch is detected on the control input device(s) and / or if the user is not in a suitable position to use the control input device(s), the mode control module 4240 can disable the control mode. For example, the mode control module 4240 can notify the control system 4210 or send information directly to the control mode module 4250 to prevent the control mode module 4250 from generating the actuation signals A1 to An to move the slave device 4204.

[0271] In some embodiments, the control mode module 4250 can be used to control the control mode of the control system 4210. The control mode module 4250 can receive control signals Cl to Cx and can generate actuation signals A1 to Ay, which control the actuator of the slave device 4204 and cause it to follow the movement of the master device 4202, such as making the movement of the slave device 4204 correspond to the mapping of the movement of the master device 4202. The control mode module 4250 can be implemented using conventional techniques. In some embodiments, the control mode module 4250 can also be used to control the force on the master device 4202. For example, one or more control signals D1 to Dx output to the actuator (one or more) for applying force to the component can be used to output a force on one or more components of the master control device (e.g., a handle member or mechanical linkage of a control input device). Such a force can provide tactile feedback, gravity compensation, etc.

[0272] In some embodiments, the non-control mode module 4260 can be used to control the non-control mode of the system 4200. In the non-control mode, user manipulation of the master device 4202 has no effect on the movement of one or more components of the slave device 4204. In some examples, the non-control mode can be used when a portion of the slave device 4204 (e.g., a manipulator arm assembly) is not being controlled by the master device 4202 but is floating in space and can be moved manually. For the non-control mode, the non-control mode module 4260 can allow the actuator system in the slave device 4204 to idle or can generate actuation signals A1 to An, for example, to allow the motor in the manipulator arm to support the expected weight of the arm against gravity, wherein the brake in the arm is not engaged and manual movement of the arm is allowed.

[0273] In some embodiments, the non-control mode may include one or more other modes of operation of the control system 4210. For example, the non-control mode may be a selection mode in which movement of a control input device in one or more of its degrees of freedom and / or selection of a control of the control input device may control selection of display options in a graphical user interface displayed, for example, by the display system 4220 and / or other display devices. The viewing mode may allow movement of the control input device to control a display provided by an imaging device (e.g., a camera) or movement of an imaging device that may not be included in the slave device 4204. The control signals Cl to Cx may be used by the non-control mode module 4260 to control such elements (e.g., a cursor, a view, etc.), and the control signals D1 to Dx may be determined by the non-control mode module to cause output of a force on the control input device(s) during such a non-control mode, for example, to indicate to a user an interaction or event occurring during such a mode.

[0274] Embodiments described herein may be implemented at least in part by computer program instructions or codes that can be executed on a computer. For example, 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-temporary computer-readable medium (e.g., storage medium), wherein the computer-readable medium may include magnetic, optical, electromagnetic or semiconductor storage media, including semiconductor or solid-state memory, tape, removable computer disk, random access memory (RAM), read-only memory (ROM), flash memory, rigid disk, optical disk, memory card, solid-state memory drive, etc. The medium may be or be included in a server or other device connected to a network (such as the Internet) for downloading data and executable instructions. Alternatively, embodiments may be in hardware (logic gates, etc.) or in a combination of hardware and software. Example hardware may be a programmable processor (e.g., field programmable gate array (FPGA), complex programmable logic device), a general-purpose processor, a graphics processor, an application-specific integrated circuit (ASIC), etc.

[0275] Note that the functional blocks, operations, features, methods, devices, and systems described in the present disclosure may be integrated or separated into different combinations of systems, devices, and functional blocks known to those skilled in the art.

[0276] Although the present embodiment has been described according to the examples shown, it will be readily appreciated by those skilled in the art that there may be changes to the embodiments, and those changes will be within the scope of the present disclosure. Therefore, many modifications may be made by those skilled in the art without departing from the scope of the appended claims.

Claims

1. A control unit, comprising: a support linkage comprising a first support member coupled to a second support member; a track member coupled to a distal portion of the second support; as well as a display unit coupled to the track member, in: The display unit can be linearly translated by the first and second degrees of freedom provided by the support linkage, The display unit is rotatable relative to the second support about a tilt axis with a third degree of freedom defined by the track member, and The display unit includes a display device.

2. The control unit according to claim 1, wherein: The track member is an arc-shaped member having a radius that determines the position of the tilt axis, and The tilt axis is oriented orthogonal to the first degree of freedom and the second degree of freedom.

3. The control unit according to claim 1, wherein: The second support is linearly translatable relative to the first support along a first axis in the first degree of freedom, and The distal portion of the second support is linearly translatable relative to the first support along a second axis in the second degree of freedom.

4. The control unit according to claim 1, wherein: The track member is rigidly coupled to the distal portion of the second support, and the display unit includes a slide member slidably coupled to the track member and movable along the track member about the tilt axis in the third degree of freedom.

5. The control unit according to claim 4, wherein: The display unit is rotatable relative to the sliding member about a yaw axis with a fourth degree of freedom, and The yaw axis is orthogonal to the pitch axis.

6. The control unit of claim 1, wherein the first support and the second support are fixed in orientation relative to each other.

7. The control unit according to claim 1, wherein: The distal portion of the first support is movable along a first axis, and the distal portion of the second support is movable along a second axis, The first axis is orthogonal to the second axis, and The tilt axis is orthogonal to the first axis and to the second axis.

8. A control unit according to any one of claims 1 to 7, wherein: The display unit is rotatable within a plane about a defined pivot axis, and The rotation of the display unit about the defined pivot axis is a combination of a linear movement of the display unit in the first degree of freedom, a linear movement of the display unit in the second degree of freedom, and a rotational movement of the display unit in the third degree of freedom.

9. A control unit according to any one of claims 1 to 4, 6 and 7, wherein: The display unit is rotatable with a fourth degree of freedom about a fourth axis, the fourth axis being orthogonal to the tilt axis, and The display unit includes a second track member that guides the display unit to rotate in the fourth degree of freedom.

10. A control unit according to any one of claims 1, 2 and 4-7, wherein: The first support comprises a first telescopic base portion and a second telescopic base portion, The second telescoping base portion is linearly translatable along a first axis relative to the first telescoping base portion, The second support member includes a first telescopic arm portion and a second telescopic arm portion, The second telescoping arm portion is linearly movable along a second axis relative to the first telescoping arm portion, and The second telescoping base portion is rigidly coupled to the first telescoping arm portion.

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