Movable display system

Abstract

The subject of this invention is a movable display system. Embodiments relate to a movable display system. In some embodiments, a control unit includes a first support and a second support, the second support being coupled to the first support. The second support is linearly translatable relative to the first support along a first axis with a first degree of freedom, and at least a portion of the second support is linearly translatable relative to the first support along a second axis with a second degree of freedom. The control unit includes a display unit rotatably coupled to the second support. The display unit is rotatable relative to the second support about a third axis with a third degree of freedom, and the display unit includes a display device.

Description

[0001] This application is a divisional application of Chinese patent application 2020800519549 (PCT / US2020 / 047494), entitled "Mobile Display System," with an international filing date of August 21, 2020, and a national phase entry date of January 18, 2022.

[0002] Cross-references to related applications This application claims priority to U.S. Provisional Patent Application No. 62 / 890,844, filed August 23, 2019, entitled “MOVABLE DISPLAY SYSTEM,” the entire contents of which are incorporated herein by reference. Background Technology

[0003] Display devices (including displays, wearable displays, projectors, etc.) are used in a variety of devices and applications. In some applications, the display device outputs images captured by a camera that provides a view of the scene.

[0004] In some applications, the display device can be used in conjunction with other devices, allowing the user, for example, to view a display view provided by the display device in conjunction with the operation of other devices. For example, in a remote operating system, a user typically operates a control input device to remotely control (e.g., remotely operate) the movement and / or other functions of a controlled device (such as a manipulator system) at the work site. In some examples, in some remotely operated surgical systems, the user operates a control input device to manipulate surgical instruments and other devices to perform surgical procedures at the surgical site. Control input devices typically include hand input devices, such as gripper handles, joysticks, exoskeleton gloves, etc. In some examples of surgical or other medical tasks, hand input devices can control various surgical instruments, such as tissue graspers, needle actuators, electrosurgical cauterization probes, cameras, etc., which perform functions such as holding or driving needles, grasping blood vessels, or dissecting, cauterizing, or coagulating tissue. Other applications may include various remote manipulation tasks performed at the work site using a remote operating system.

[0005] In various remote operating systems, a display unit is used in conjunction with a control input device. For example, the display unit may include a display device that shows an image captured by a camera at the work site, depicting a view of a remote work site or a portion thereof. The display unit may be held by a mechanically grounded support, allowing the user to operate the control input device and control manipulators to perform tasks 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 the user with a view of the work site 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, the user can adjust the display view by manipulating a camera using a hand input device, for example, rotating, panning, and zooming the camera view to obtain the desired magnification and angle of view of the work site. This allows for customization of the view of the work site for clearer presentation and allows for accurate task execution at the work site based on the user-customized view.

[0006] However, a remote operating system can provide a viewing device with a limited viewing area (e.g., the user must peer through a viewport or eyepiece) and which is static and rigid relative to the user's position. During system operation, the user must align their head and body with the viewing device to be able to use it. For example, if a user wishes to look down to see an object closer to them, they must adjust their eyes downward without tilting their head so that they can continue viewing the image within the limited viewing area of ​​the device.

[0007] Furthermore, manipulating the display view in a viewing device can be challenging for users of some systems. For example, if a user is gripping the hand input device of a control input device to move a manipulator 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 different control modes to change the display view. Such operations typically require the user to interrupt and pause the manipulation of the manipulator to perform the view adjustment, thus causing distraction and potential inaccuracies while performing the task. In addition, some non-manual methods of controlling the display view (such as eye-tracking sensors or voice commands) are often imprecise and unreliable, potentially introducing ambiguity from user-provided commands. Summary of the Invention

[0008] Embodiments of this application relate to a movable display system. In some embodiments, the control unit includes a first support and a second support, the second support being coupled to the first support. The second support is linearly translatable relative to the first support along a first axis with a first degree of freedom, and at least a portion of the second support is linearly translatable relative to the first support along a second axis with a second degree of freedom. The control unit includes a display unit rotatably coupled to the second support. The display unit is rotatable relative to the second support about a third axis with a third degree of freedom, and the display unit includes a display device.

[0009] In various embodiments of the control unit, the first axis is orthogonal to the second axis, and the third axis is orthogonal to both the first and second axes. In some embodiments, the first and second supports are fixed relative to each other in orientation. In some embodiments, the first support 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 includes a first retractable arm portion and a second retractable arm portion, the second retractable arm portion being linearly translatable relative to the first retractable arm portion along the second axis; and the second retractable base portion of the first support is rigidly coupled to the first retractable arm portion of the second support. In some embodiments, the second support is coupled to the first support via an intermediate support, the intermediate support including a horizontal portion rigidly coupled to a vertical portion, the horizontal portion and the vertical portion being orthogonal to each other; the second support is horizontally translatable relative to the intermediate support with a second degree of freedom; and the intermediate support and the second support are vertically translatable relative to the first support with a first degree of freedom.

[0010] In some embodiments, the display unit includes a tilting member rotatably coupled to an end of the second support member, the tilting member being rotatable about the third axis with the third degree of freedom, and the display unit being coupled to the tilting member and movable relative to the tilting member with the fourth degree of freedom. For example, the display unit is rotatable relative to the tilting member about a fourth axis with the fourth degree of freedom, the fourth axis being orthogonal to the third axis. In some examples, the control unit further includes an actuator configured to output a force about the fourth axis with the fourth degree of freedom on the display unit. In some embodiments, the portion of the second support member includes a yoke portion including two yoke members, and the display unit is rotatably coupled to the two yoke members and positioned between the two yoke members. In some embodiments, the control unit includes a first actuator, a second actuator, and a third actuator, wherein the first actuator is configured to output a first force on the display unit with a first degree of freedom, the second actuator is configured to output a second force on the display unit with a second degree of freedom, and the third actuator is configured to output a third force on the display unit with the third degree of freedom. For example, the first, second, and third actuators may be configured to output the first, second, and third forces in combination to cause rotation of the display unit about a defined pivot axis.

[0011] In some embodiments, the display unit includes a head input device and / or a hand input device, the head input device being provided on the display unit and configured to receive input from a user's head, and the hand input device being provided on the display unit and configured to receive input from a user's hand. In some embodiments, the control unit is coupled to a device including a control input device, which can be operated by a user to control one or more functions of a remote operation controller system.

[0012] In some embodiments, a remote operating system control unit includes a 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; a 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; and a display unit rotatably coupled to the second portion of the horizontal member and rotatable relative to the horizontal member about an inclined axis, the display unit including a display device.

[0013] In various embodiments of the remote operating system control unit, the first portion and the second portion of the vertical member are retractably coupled, and the first portion and the second portion of the horizontal member are retractably coupled. In some embodiments, the tilting member is coupled to the display unit and rotatably coupled to the second portion of the horizontal member, and the tilting member and the display unit are rotatable about the tilting axis. In some embodiments, the second portion of the horizontal member includes a yoke portion comprising two parallel members, and the display unit is rotatably coupled to and positioned between the two parallel members. In some embodiments, the remote operating system control unit further 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 second portion of the vertical member, the second actuator is configured to output a second force on the second portion of the horizontal member, the third actuator is configured to output a third force on the display unit about the tilt axis, and the fourth actuator is configured to output a fourth force on the display unit about a fourth axis with a fourth degree of freedom, wherein the display unit is rotatable relative to the tilt member.

[0014] In some embodiments, the display unit is rotatable about a defined pivot axis, and the rotation of the display unit about the defined pivot axis is caused by a coordinated combination of linear movement of the second portion of the vertical member, linear movement of the second portion of the horizontal member, and rotational movement of the display unit. For example, the defined pivot axis may be positioned such that it extends through the user's neck when the user operates the display unit; it may extend through a head input device provided on the display unit at a point on the forehead of the user configured to contact the head input device; it may coincide with the eye axis of the user's eye extending through the display unit; and it may extend through a hand input device provided on the display unit, for example, the hand input device being configured to be operated by the user's hand when the user operates the display unit. In some embodiments, the display unit is rotatable about a yaw axis with a fourth degree of freedom relative to the horizontal member, and the yaw axis is orthogonal to the tilt axis. In some implementations, the remote operating system control unit is coupled to a device including a control input device that can be manipulated by a user to control one or more functions of the remote operating system.

[0015] In some embodiments, a control unit includes a support mechanism and a control system. The support mechanism includes a support linkage, a display unit, and a plurality of actuators. The support linkage includes a plurality of links, the display unit is coupled to the support linkage, and the plurality of actuators are coupled to the support linkage. The display unit is movable in multiple degrees of freedom based on relative movement between the plurality of links, and the display unit includes a display device. The control system communicates with the support mechanism and is configured to provide control signals to one or more of the plurality of actuators to cause the display unit to rotate about a defined pivot axis. The rotation about the defined pivot axis is caused by movement of the display unit in at least two of the plurality of degrees of freedom.

[0016] In various embodiments of the control unit, the plurality of links include tilting members rotatably coupled to different links among the plurality of links, the tilting members being rotatable about a tilting axis, the display unit being rotatably coupled to the tilting members, and the distance between the defined pivoting axis and the tilting axis being fixed during rotation of the display unit about the defined pivoting axis. In various embodiments, the plurality of degrees of freedom of the support linkage includes two or more of a linear first degree of freedom, a linear second degree of freedom, a third rotational degree of freedom, or a fourth rotational degree of freedom. In some examples, the defined pivoting axis is: a horizontal axis extending through the neck of a user operating the display unit, a horizontal axis aligned with an axis extending through the eyes of the user operating the display unit, a horizontal axis aligned with an axis extending through a portion of an input device provided on the display unit, the portion of which is configured to contact the forehead of the user operating the display unit, or a horizontal axis aligned with an axis extending through a portion of a hand input device provided on the display unit, the hand input device being configured to be operated by the hand of a user operating the display unit and the hand input device. In another example, the defined pivot axis may be spatially adjustable based on user input to the control unit.

[0017] In some embodiments, the control system is configured to provide the control signal to control the actuator to move the display unit about the defined pivot axis, thereby following the movement of the head of a user operating the control unit. In some example embodiments, the display unit is not attached to the user's head. In some embodiments, the control system communicates with a control input device and is configured to receive commands from the control input device and, based on the commands, send signals to a remotely operated manipulator system.

[0018] In some embodiments, a control unit includes a support, an arcuate track, and a display unit. The arcuate track is coupled to the support, and the display unit is coupled to the arcuate track. The display unit includes a display device and is guided by the arcuate track to be rotatable about a yaw axis with rotational degrees of freedom. In some embodiments, the display unit is movable left or right relative to a user operating the display unit along the arcuate track, the yaw axis extending vertically relative to the user. In some embodiments, the support includes a linkage having a plurality of links movable relative to each other, the links enabling the display unit to move with at least one additional degree of freedom, and an actuator coupled to the display unit and configured to output a force causing the display unit to move with the rotational degrees of freedom. In some examples, the display unit may be rigidly coupled to the arcuate track and the arcuate track slidably coupled to the support, or the display unit may be slidably coupled to the arcuate track and the arcuate track rigidly coupled to the support.

[0019] In some embodiments, a method includes receiving a first user input at a first input device and causing a display unit to move with one or more degrees of freedom provided by a support linkage coupled to the display unit. The display unit includes a display device. The movement is based on the first user input and causing the movement includes causing a second link of the support linkage to translate linearly with a first degree of freedom relative to a first link of the support linkage along a first axis; causing a portion of the second link to translate linearly with a second degree of freedom relative to the first link along a second axis; and causing the display unit to rotate with a third degree of freedom about a third axis relative to the second link.

[0020] In some embodiments, the first user input is received from at least one of a head input device provided on the display unit for receiving input from the user's head and / or a hand input device provided on the display unit for receiving input from the user's hand. In some embodiments, causing the movement of the display unit includes causing the display unit to rotate about a fourth axis with a fourth degree of freedom relative to the second link, the fourth axis being orthogonal to the third axis. In some embodiments, the method receives a second user input at a second input device (e.g., coupled to the support linkage), and based on the second user input, controls an actuator to move a manipulator instrument in space. For example, the display unit is capable of displaying a view of the workspace in which the manipulator instrument operates. In some embodiments, the method further includes updating an image displayed by the display device of the display unit according to the first user input (or otherwise according to the movement of the display unit). In some embodiments, the method includes causing an actuator of the manipulator system to move an image capturing device of the manipulator system according to the first user input, and image data is received from the image capturing 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 device, and means for inducing a display unit to move with one or more degrees of freedom provided by a support linkage coupled to the display unit based on the first user input. The display unit includes a display device. The means for inducing the movement of the display unit includes means for inducing a second link of the support linkage to translate linearly with respect to a first link along a first axis with a first degree of freedom, means for inducing a portion of the second link to translate linearly with respect to the first link along a second axis with a second degree of freedom, and means for inducing the display unit to rotate with respect to the second link about a third axis with a third degree of freedom. In some embodiments, the control unit further includes means for receiving a second user input and means for controlling a slave device actuator to move a slave device in space based on the second user input. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of an example remote surgical system including a control input device, a display system, and a manipulator device, according to some embodiments. Figure 2 This is a front view of a user control system including a control input device and a display system according to some embodiments; Figures 3-5 These are, respectively, perspective views, front views, and side views of the system shown according to examples of some implementation methods; Figure 6 This is a side view of another example of a display system according to some implementations; Figure 7 This is a side view of yet another example of a display system according to some implementations; Figures 8-11 This is a side view of a part of a display system according to some embodiments, showing the rotation of the display unit about a defined neck pivot axis; Figures 12-14 It is based on some implementation methods Figure 8 A side view of a portion of the display system, showing the rotation of the display unit about a defined eye pivot axis; Figures 15-16 These are perspective and side views of an example base support for a display system according to some embodiments; Figure 17 and Figure 18 These are perspective and side views of an example arm support for a display system according to some embodiments; Figures 19-21 These are, respectively, a side view, a front view, and a perspective view of an example tilting mechanism according to some embodiments; Figure 22 This is a perspective view of the unit mechanism shown according to some implementation examples; Figures 23-25 These are perspective views, front views, and side views of another embodiment of a display system according to some implementation methods; Figures 26-29 This is a side view of a part of a display system according to some embodiments, showing the rotation of the display unit about a defined neck pivot axis; Figure 30 and Figure 31 It is based on some implementation methods Figure 26 A side view of a portion of the display system, showing the rotation of the display unit about a defined eye pivot axis; Figure 32 This is a perspective view of another embodiment of the display system according to some implementation methods; Figures 33-36 These are based on some implementation methods. Figure 32 The front view, side view, top view, and bottom view of a portion of the display system; Figure 37 and Figure 38 It is based on some implementation methods Figure 32 A perspective view of a portion of the display system; Figure 39 It is based on some implementation methods Figure 32A side view of a portion of the display system, showing the defined pivot axis; Figure 40 This is a perspective view of an example portion of a control input device that can be used with the described display system according to some embodiments; Figure 41 This is a flowchart illustrating example methods for operating a display system including one or more features described herein, according to some embodiments; and Figure 42 This is a block diagram of an example master-slave system that can be used with one or more implementations described herein. Detailed Implementation

[0023] Implementations relate to a movable display system that adapts to and / or responds to user viewing. For example, in some implementations, the display system is used in a user control system to provide a user with a display view of a work area or environment while the user operates one or more other devices, such as control input devices for a remote operating system. As described in more detail herein, implementations provide a display system in which a display unit is moved in response to user 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 images 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 implementations may provide various views of a work area via a camera image provided by the display unit in response to user input via the display system.

[0024] The described display system features a support linkage that provides multiple degrees of freedom for the display unit. The support linkage includes a first (e.g., vertical) support member having a first portion and a second portion, and the second portion being linearly translatable relative to the first portion (e.g., a telescopic portion) along a vertical axis. The support linkage includes a second (e.g., horizontal) support member rigidly coupled to the vertical support member and having a first portion and a second portion, the first portion being rigidly coupled to the second portion of the vertical member, and the second portion being linearly translatable relative to the first portion (e.g., a telescopic portion) along a horizontal axis. In some embodiments, the support linkage includes a tilting member rotatably coupled to the distal end of the second support member, the tilting member being rotatable about a third axis with a third degree of freedom. In some embodiments, the display unit is coupled to the tilting member. In some embodiments, the display unit is movable relative to the tilting member with a fourth degree of freedom, for example, 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 system to move the components, and thereby move the display unit within the workspace with specific degrees of freedom. The user input device on the display unit allows users to provide input to guide 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 remote operating system to control the manipulator system's functions, such as the movement of manipulator instruments and other functions.

[0025] The described features offer various benefits. For example, the support linkages and actuators allow the display system to change the position and orientation of the display unit based on received user input, such as to accommodate 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 about a defined pivot axis that can coincide with the user's eyes or the pivot axis of the user's neck, thereby providing movement of the display unit aligned with the user's natural body movements. These features allow the user to easily reorient the display unit during a program to obtain different comfortable viewing angles and reduce physical constraints on the use of the display unit, thereby reducing user fatigue during the associated program. The movement of the display unit with the provided tilt, horizontal, and vertical degrees of freedom (e.g., providing movement about defined pivot and yaw axes) allows the display unit to follow and remain close to the user's head and / or eyes during user head movements (e.g., the movement of the display unit mirrors or replicates the movement of the user's head and / or eyes), and / or maintain the physical connection between the user's forehead and the display unit. In some implementations, this allows the display unit to follow the movement of the user's head and eyes without having to physically attach the display unit to the user's head, thereby avoiding user stimulation and fatigue from such attachment.

[0026] Furthermore, the defined pivot axis of the display unit can be a virtual axis that is not necessarily limited to the physical movement axes 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 the height, arm span, neck, or head size of a particular user, thus allowing for greater comfort when operating the display system. Additionally, sensors on the display unit (such as head sensors) allow users to easily provide user input without using their hands, which may be manipulating other input devices (such as control input devices).

[0027] Furthermore, changes in the position and / or orientation of the display unit guided by user input can be used to modify the image display on the display unit. For example, the displayed image or user interface can be scrolled, tilted, panned, or zoomed 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 an image capturing device (or other instrument or apparatus) at a remote working location is manipulated based on user input to the display unit, such as movement of the image capturing device or other device functions, such as panning, tilting, and zooming. A head sensor on the display unit allows the user to provide such user input without interrupting or pausing the remote operation process using other user input devices, such as control input devices operated by hand or foot.

[0028] The various terms used in this document, including “linear,” “center,” “parallel,” “orthogonal,” “perpendicular,” “aligned,” “horizontal,” “vertical,” or specific measurements or other units, may be approximate, not necessarily precise, and may include typical engineering tolerances.

[0029] Some embodiments described herein may relate to various instruments and parts thereof in relation to their state in three-dimensional space. As used herein, the term “position” refers to the location of an object or part of an object in three-dimensional space (e.g., three translational degrees of freedom along Cartesian x, y, and z coordinates). As used herein, the term “orientation” refers to the rotational placement of an object or part of an object (three rotational degrees of freedom – e.g., roll, pitch, and yaw about the Cartesian X, Y, and Z axes). As used herein, the term “pose” refers to the position of an object or part of an object in at least one translational degree of freedom and the orientation of the object or part of the object in at least one rotational degree of freedom (up to six degrees of freedom in total).

[0030] As mentioned herein, the movement of mechanically grounded units or devices relative to possible positions and orientations is constrained within a large working environment (e.g., an operating area or room). Furthermore, such units are kinematically coupled to the ground (e.g., mechanically supported by a control panel, support, or other object attached to the ground). As used herein, the term "proximal" refers to an element closer to (or closer to) the mechanical ground, and the term "far-side" refers to an element further away from (or further from) the mechanical ground.

[0031] The various features described herein can be used to enhance the control capabilities of computer-aided remote operating systems. In some implementations, the remote operating system includes one or more control input devices (e.g., one, two, three, or more) for providing the system's user with control of manipulator instruments in various programs (surgical procedures, programs for extreme environments, or other programs), instructions, monitoring, supervision, and other feedback.

[0032] Figure 1 This is a schematic diagram of an example remote-operated surgical system 100 that can be used in conjunction with one or more features disclosed herein. As shown, the remote-operated surgical system 100 may include a user control system (e.g., a console or workstation) 102 and a manipulator system 104.

[0033] In this example, the user control system 102 includes one or more control input devices that are touched and manipulated by the user's hands, for example, one control input device for each hand. Figure 2 and 40 Some example embodiments of the control input device, described in more detail below, are shown. The control input device is supported by the user control system 102 and may be mechanically grounded. In some embodiments, an ergonomic support 110 (e.g., a front armrest) may be provided on which the user 108 can rest his or her forearm while gripping the control input device. For example, the control input device may be positioned in a workspace located inward (away from the user 108) outside the support 110. In some examples, the user 108 may use the control input device to control the manipulator system 104 to perform surgical tasks at a work site near the manipulator system 104 during surgical procedures.

[0034] Display unit 112 is included in user control system 102. Display unit 112 can display images for user 108 to view. For example, the images can be displayed by a display device (such as one or more displays, projectors, or other devices) in the display unit. Display unit 112 can be moved with various degrees of freedom to adapt to the user's viewing position and / or provide control functions, as described in more detail below. In examples of remote operating system 100, the displayed images can depict the work site where the user performs various tasks via control input devices. In some examples, the images displayed by display unit 112 can be received by user control system 102 from one or more image capture devices located at a remote work site. In other examples, the images displayed by display unit can be generated by display unit (or by other connected devices or systems). In examples of surgical procedures using remote operating system 100, display unit 112 can display an image of the physical surgical site at the patient's location near manipulator system 104, or a virtual representation of the generated surgical site, or a combination of physical and virtual sites (e.g., augmented reality), and can display real or virtual instruments of manipulator system 104 controlled by control input devices of user control system 102. Display unit 112 can provide, for example, two-dimensional and / or three-dimensional images of the end effector of manipulator instrument 126 and the surgical site. The three-dimensional image can provide three-dimensional depth cues to allow user 108 to evaluate the relative depth of the instrument and patient anatomy, and to use visual feedback to steer manipulator instrument 126 using control input devices for precise aiming and control of features.

[0035] 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, positioning his or her eyes in front of the display unit 112 (and / or moving the display unit 112 to the position / or orientation of his or her eyes), grasping and manipulating the control input devices (e.g., one in each hand), and resting his or her forearms on the ergonomic support 110 as needed. In some embodiments, the user can stand at the user control system or adopt 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.

[0036] The remote operating system 100 may also include a manipulator system 104 that can 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 workbench, bed, or other support) where a patient can be positioned. A work site 130 may be provided on or in the operating table 106, for example, on or in a patient, a simulated patient, or a model (not shown). In other embodiments, the work site may be a different location or area where a task is to be performed using the manipulator system. The remotely operated manipulator system 104 includes a plurality of manipulator arms 120, each 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 a surgical end effector, for example, for manipulating a patient's tissue, at its distal end.

[0037] In various embodiments, one or more of the instruments 126 may include an image capturing device (e.g., a camera), such as a camera included in the endoscope assembly 124, which can provide captured images of a portion of the work site (e.g., an area or portion of a patient to which a surgical procedure is being performed). In some embodiments, the captured images may be sent to a display unit 112 of the user control system 102 for output. In some embodiments, a display device 128 may be included on the manipulator system 104 to display the captured images and / or other information related to the procedure being performed at the work site. In some embodiments, the image capturing device may move in multiple degrees of freedom, for example, based on translation and rotation of a portion of the manipulator arm 120 holding the camera.

[0038] In an example of a surgical procedure using the remote operating system 100, the manipulator system 104 may be positioned close to the patient (or a simulated patient) for surgical procedures, where it may remain stationary until the completion of a specific surgical procedure or stage of the procedure. In various embodiments, the user control system 102 may be positioned relative to the manipulator system 104 in various locations, such as in a sterile surgical area close to the manipulator system 104 and the work site 130, in the same room as the manipulator system 104 and the work site 130, or remotely (e.g., in a different room, building, or other geographical location). The number of remotely operated instruments 126 used at one time and / or the number of arms 120 used in the manipulator system 104 may depend on the procedure to be performed and spatial constraints within the available area, among other factors.

[0039] 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 by the user 108 of a control input device, allowing the user 108 to perform a task at a work site 130. For example, the user can guide a surgical procedure at an internal surgical site through a minimally invasive surgical port. In some embodiments, one or more actuators coupled to the manipulator arm 120 and / or instrument assembly 122 can output forces to cause links or other portions of the arm 120 and / or instrument 126 to move with specific degrees of freedom in response to a control signal received from the control input device.

[0040] Some implementations of the remote operating system 100 may provide different operating modes. In some examples, in a non-control mode (e.g., a safety mode) of the remote operating system 100, the controlled movement of the manipulator system 104 is controllably decoupled (disconnected) from the control input device in a disconnect 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 remote operating 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, for example, during a surgical procedure, cause movement of the manipulator system 104. For example, each manipulator arm 120 and the remote manipulation instrument assembly 122 controlled by that arm 120 may be controllably coupled to and decoupled from one or more control input devices to allow control of movement and / or other functions of that arm.

[0041] 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 may output forces in response to control signals provided by a control input device to cause the links or other parts of the arm to move with specific degrees of freedom. The control input device may 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 area near the operating table), or it may be located further away from the manipulator system, for example, in a different room, building, or other location.

[0042] In some implementations, the control system ( Figure 1(Not shown) is provided in the user control system 102 and / or external to the user control system 102 (e.g., in communication with the user control system). When the user 108 moves (one or more) control input devices, sensed spatial information and sensed orientation information are provided to the control system based on the movement of the control input devices. Other user inputs are also provided to the control system, such as user input 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 inputs. For example, the control system may map sensed spatial motion data and sensed orientation data describing the control input devices in space 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 properly 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, allowing the user 108 to manipulate the instrument 126 of the manipulator system 104. Similarly, the control system can 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 instrument 126, such as moving the jaws of the instrument end effector, activating the cutting tool or outputting energy, activating suction or flushing 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 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... Figure 34 Describe some examples of control systems.

[0043] In some embodiments, the display unit 112 can be operated by a user in conjunction with the operation of one or more ungrounded control input devices, which are control input devices that are not kinematically grounded, such as control input devices held by the user's hand without additional support. For example, a user can sit or stand while holding and manipulating the ungrounded control input device in his or her hand and viewing images on the display unit 112. Examples of ungrounded control input devices are disclosed in U.S. Patent No. 8,521,331B2 (published 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, a user can use the display unit 112 positioned near the work site, allowing the user to operate manual surgical instruments (such as laparoscopic instruments or staplers) at the work site while viewing images displayed by the display unit 112.

[0044] In some embodiments, the remote operating 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 programs. 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 ungrounded control input devices, sidecars with display devices, and other components may be used in the remote operating system 100.

[0045] In some implementations, control may be exercised over a virtual representation of the manipulator system 104 presented in a graphical training simulation provided by a computing device coupled to a remote operating system 100, rather than over a 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, as if the end effector were a physical object coupled to a physical manipulator system. Some implementations may utilize the control input device during training, for example, in the use of demonstration equipment and in the control of a user control system that includes the control input device.

[0046] In some implementations, non-remote operating systems may also utilize 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., can be used with the described display unit system. In some examples, display unit 112 can be used in some non-remote operating systems, for example, to view a remote work location or physical scene where the user does not manipulate the operator system, or to view a virtual environment displayed independently of the physical operator system or physical work location. In some of these systems, the user control system 102 and operator system 104 may be omitted, and display unit 112 may be used in a stand-alone display system.

[0047] Some implementations may include one or more components of a remotely operated medical system, such as the da Vinci® surgical system (e.g., models IS3000 or IS4000, marketed as the Vinci® Si® or da Vinci® Xi® surgical system) commercialized by Intuitive Surgical, Inc. of Sunnyvale, California. The features disclosed herein can be implemented in various ways, including at least partially computer-controlled, controlled via electronic control signals, manually controlled via direct physical manipulation, etc. The implementations of the da Vinci® surgical system are merely examples and should not be considered as limiting the scope of the features disclosed herein. For example, different types of remote operating systems with a manipulator system at the work site may utilize the features described herein. Other non-remote operating systems may also use one or more of the described features, such as various types of control systems and devices, peripherals, etc.

[0048] Figure 2 This 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 that used for... Figure 1 The user control system 102 is described.

[0049] The user control system 200 includes a display unit 204, which can display images, for example, during a program implemented by the remote operating system 100, and similarly for... Figure 1 The display unit 112 is described above. Images can be captured by an image capture device and depict the physical work area where the task is performed (such as a surgical site displayed during a surgical procedure), or can depict a representation of a generated virtual work area. The display unit 204 can 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 can be displayed in conjunction with a view of the work area (e.g., overlaid on it), or displayed without a view of the work area.

[0050] In the example shown, display unit 204 includes two viewports 205. A user can position their head so that their eyes are aligned with the viewports 205 to view the image displayed by display unit 204. Furthermore, as described herein, display unit 204 is movable (translatable and / or rotatable) within a defined workspace based on user input, allowing the user to align the viewports and viewing angle of the display unit with their eyes. In some examples, one or more displays may be provided behind the viewports to show the image to the user. In some embodiments, one or more displays or other display devices may be used instead of viewports 205. Display unit 204 is connected to a support mechanism and is movable in one or more degrees of freedom, examples of which are described in more detail below.

[0051] In some embodiments, the user control system 200 includes one or more input control devices to allow a 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 control input devices 210 and 212, described below). In this example, hand input device 206A is positioned to the left of the display unit 204, and hand input device 206B is positioned to the right of the display unit 204. In some embodiments, hand input devices 206A and 206B may receive user input to cause the display unit 204 to change its orientation and / or position, for example, to provide ergonomic adjustments for greater user comfort. Such hand input devices may alternatively or additionally be positioned in other areas or components of the user control system 200. Examples of hand input devices 206A and 206B are described in more detail below.

[0052] In some embodiments, the head input device 208 is positioned on the 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 the user's head and / or contact with the user's head) as user input to cause the display unit 204 to move according to the user input, for example, changing the orientation and / or position of the display unit 204. Additionally or alternatively, the control system can command one or more components, state changes, or processes of the user control system 102 and / or manipulator system 104 based on user input to the head input device 208. Examples of the head input device 208 are described in more detail below.

[0053] Two control input devices 210 and 212 are provided in the user control system 200 for user manipulation. For example, a user can rest their forearms on an ergonomic support 214 while gripping portions of the two control input devices 210 and 212, with one control input device in each hand (e.g., 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 may be height-adjustable for different users. The user also positions their head to view the display unit 204 while manipulating the control input devices 210 and 212, as described above. The control input devices may include one or more of any number of various input devices that can be manipulated by the user, such as kinematically linked (mechanically grounded) handles, joysticks, trackballs, data gloves, trigger guns, manual controllers, voice recognition devices, touchscreens, etc.

[0054] 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 1 The movement and function of the associated arm assembly 120 of the manipulator system 104 are illustrated. In some examples, the control input device 210 can be moved with multiple degrees of freedom to move a 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 instrument 126 of the manipulator system to provide the operator with a telepresence (e.g., a perception that the control input devices are integrated with the instrument), giving the operator a strong feeling of directly controlling the instrument as if it were present at the work site. In other embodiments, the control input devices 210 and 212 may have more or fewer degrees of freedom than the associated instrument 126. In some embodiments, the control input device is movable in all six Cartesian degrees of freedom and may also include a hand input device for actuating a manipulator instrument (e.g., for closing jaws, applying a potential to electrodes, delivering drug treatments, etc.). In some embodiments, a gripping function (such as moving the two gripping portions of the control input device together and apart during clamp movement) can provide additional mechanical degrees of freedom (i.e., grip DOF). In some example embodiments, control input devices 210 and 212 can provide control of one or more surgical instruments 126 in a surgical environment or proxy surgical instruments in a virtual environment. Regarding Figure 32Examples of some implementations of the control input device are described.

[0055] Some embodiments of the user control system 200 may include one or more foot controls 220 positioned below control input devices 210 and 212. The foot controls 220 may be pressed down, slid, and / or otherwise manipulated by a user's foot to input various commands to the control system of a remote operating system when the user operates the user control system 200. In some embodiments, the foot controls 220 or other controls may be considered "control input devices" capable of controlling one or more functions or operations of the manipulator system 104.

[0056] In some embodiments, one or more user presence sensors may be positioned at one or more locations within 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 display unit 204 and sense the presence of a user's head aligned with viewport 205. For example, an optical sensor may be used for the presence sensor, comprising a transmitter and a detector, and the detector senses an interruption in the beam when the user's head is positioned to view the output of display unit 204 and the user is in an appropriate position to use control input devices 210 and 212. In some embodiments, hand input device 206 and / or head input device 208 may be used to sense user presence. Additional or alternative types of presence sensors may be used in various embodiments.

[0057] Figure 3 This is a perspective view of system 300 shown according to examples of some implementation methods. Figure 4 This is a front view of system 300 shown according to examples of some implementation methods, and Figure 5 This is a side view of the display system 300 according to examples of some implementations. In some examples, the display system 300 can be used in a user control system of a remote operating system (e.g., Figure 1 The remote surgical system 100 can be used in the user control system 102, or in other systems or as a stand-alone system, for example, to allow users to view the work site or other physical locations, the displayed virtual environment, etc.

[0058] 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 by a support linkage device, which includes the base support 302, the arm support 304 coupled to the base support 302, and an inclined member 324 (described below) coupled to the arm support 304. The display unit 306 is coupled to the inclined member.

[0059] 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 may be mechanically coupled to a support structure 310, which is coupled to the ground (e.g., resting 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 the proximal portion of the base support 302 and may be mechanically grounded, and the second base portion 314 is the distal portion of the base support 302 and is linearly coupled to the first base portion 312, such that the second base portion 314 can translate relative to the first base portion 312 with linear degrees of freedom. In some examples, the first base portion 312 and the second arm portion 314 are retractably coupled, for example, the first base portion 312 is a first retractable base portion, and the second base portion 314 is a second retractable base portion, such that one of the portions 312 or 314 is configured as a tube or sleeve having a hollow interior, and the other of the portions 314 or 312 extends through the hollow interior. Figures 3-5 In one example, the second base portion 314 can be linearly translated through the interior of the first base portion 312 with linear degrees of freedom 316. This 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 may use different configurations. For example, the first base portion 312 may extend through the interior of the second base portion 314, allowing the second base portion 314 to be linearly translated relative to the first base portion 312. In other examples, the base portions 312 and 314 may be positioned adjacent to each other along their vertical length to allow for linear translation.

[0060] Arm support 304 is a horizontal member mechanically coupled to base support 302. Arm support 304 may include a first arm portion 318 and a second arm portion 320. The first arm portion 318 is the proximal portion of arm support 304, rigidly coupled to a second base portion 314 of base support 302, and the second arm portion 320 is the distal portion of arm support 304, linearly coupled to the first arm portion 318, such that the second arm portion 320 can be linearly translated relative to the first arm portion 318 with linear degrees of freedom. 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 portions 318 or 320 is configured as a tube or sleeve having a hollow interior, and the other of portions 320 or 318 extends through this hollow interior. Figures 3-5In one example, the second arm portion 320 can be linearly translated through the interior of the first arm portion 318 with linear degrees of freedom 322. This 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 may use different configurations; for example, the first arm portion 318 may extend through the interior of the second arm portion 320, allowing the second arm portion 320 to be linearly translated relative to the first arm portion 318. In other examples, the arm portions 318 and 320 may be positioned adjacent to each other along their vertical length to allow for linear translation.

[0061] In some embodiments, the first arm portion 318 and the second base portion 314 can be considered as 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 the vertical second base portion 314, the first arm portion 318 and the second base portion 314 being orthogonally oriented to each other. The second arm portion 320 is translatable horizontally relative to the intermediate support with a degree of freedom 322, and the intermediate support and the second arm portion 320 are translatable vertically relative to the first base portion 312 with a degree of freedom 316.

[0062] In some examples shown, the arm support 304 extends along a horizontal axis orthogonal to the vertical axis, and the base support 302 extends along the vertical axis. 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 their orientation relative to each other. In some examples, the arm support 304 extends along an axis above the user operating the display unit and extends through the first arm portion 318 of the arm support 302 via the vertical axis of the base support 302. In other embodiments, the arm support 304 may extend at other heights and / or configurations, such as below the user's head or body, at the height of the user's head, behind the user, and around the user's yoke.

[0063] Reducing vibrations in the supports and components of the display system 300 can provide a smoother experience for users operating the display unit 306. Some implementations may include one or more components of the base support 302 and / or arm support 304 to provide damping that can reduce vibrations in the support linkage including these supports 302 and 304. For example, a portion of the lever arm may be internally rigidly coupled to the arm support 304, and the arm support 304 may be lightly touched or compressed by a highly damping material provided in the base support 302 to reduce vibrations in the arm support 304. For example, Sorbothane® material, viscous materials, or other materials with a damping coefficient above a certain threshold may be used. 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, etc.

[0064] The display unit 306 is mechanically coupled to the arm support 304. The display unit 306 can move with 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.

[0065] Display unit 306 includes a display device capable of displaying digital images, such as one or more displays, projectors, or other display devices. In some embodiments, such as Figures 3-5 As shown, the display unit 306 includes two viewports 323, and the display device is provided behind or included in the viewports. In some embodiments, one or more displays or other display devices may be positioned on the display unit 306 in place of the viewports 323.

[0066] The display unit 306 is rotatably coupled to the arm support 304 via the tilting member 324. Figures 3-5In one example, the tilting member 324 is rotatably coupled at its first end to the second arm portion 320 of the arm support 304 via a rotary coupler that provides rotational movement of the tilting member 324 and the display unit 306 about a tilting axis 326 relative to the second arm portion 320. In some embodiments, the tilting axis 326 is orthogonally oriented 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 tilting member 324 may provide rotational degrees of freedom to the display unit 306 in a vertical plane that is the same as or parallel to the vertical planes provided by the base support 302 and the arm support 304 for degrees of freedom 316 and 322. In some embodiments, the tilting axis 326 is orthogonal to the plane defined by degrees of freedom 316 and 322. In some embodiments, the tilting axis 326 is positioned above the display device in the display unit 306. In some embodiments, the tilting axis 326 is positioned above the user's head position when the user operates the display unit 306. In other embodiments, the tilt axis may be positioned closer to the user, for example, a lower and closer pivot axis to the user's neck, as described below. In some examples, the arm support 304 may have two branches extending on either side of the user's head, wherein the tilt axis 326 extends between the ends of the two branches and is aligned with a defined pivot point in the user's head or neck.

[0067] In this example, an extension of the tilting member 324 extends from the tilt axis 326 toward the base support 302, and the display unit 306 is coupled to a second end of the tilting member at the extension. The rotational movement of the tilting 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 tilting member 324 can be considered as a support linkage having the display unit 306 coupled to the distal end of the support linkage. For example, the motor(s) can be controlled by control signals from control circuitry (e.g., a control system) to tilt the display unit 306 about the tilt axis 326 to a specific orientation with a tilt degree of freedom 327.

[0068] In some embodiments, the display unit 306 is rotatably coupled to the tilting member 324 and can rotate about a yaw axis (e.g., a lateral rotation axis) 330. This could, for example, be a lateral or left-right rotation from the viewpoint of a user viewing an image of the display unit 306 via viewport 323. Figures 3-5In one example, display unit 306 is coupled to tilting member via a rotation mechanism, which in some embodiments 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 display unit 306. Track 328 slidably engages a recessed member coupled to tilting member 324, thereby allowing display unit 306 to rotate about yaw axis 330 by moving arcuate track 328 through a recess in the recessed member. In some embodiments, arcuate track is coupled to tilting member 324, and recessed member is coupled to display unit 306, and recessed member engages and slides along the length of arcuate track to allow rotational movement of display unit 306 about yaw axis 330. In some embodiments, recessed member may be approximately as long as the width of tilting member 324 and / or include at least a portion of a ring through which arcuate track 328 slides.

[0069] In some embodiments, the arcuate track 328 is an arcuate guide rail that slidably engages the groove member as described. In some embodiments, the arcuate track 328 may be an arcuate cam follower that engages with a cam roller. For example, the cam roller may be rotatably coupled to the display unit 306 and, in various embodiments, have a rotation axis orthogonal to or parallel to the yaw axis 330. For example, the cam roller may be cylindrical and may roll along the arcuate surface of a cam follower rigidly coupled to the tilting member 324. For example, the cam roller may be held against the cam follower by the wall or ridge of the cam follower. In some embodiments, the cam follower may be rigidly coupled to the display unit 306, and the cam roller may be rotatably coupled to the tilting member 324.

[0070] The curvature (e.g., radius) of the curved track 328 and / or the groove member is selected to provide a 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 may be a specific horizontal distance parallel to the degree of freedom 322 of the arm portion 320. For example, the yaw axis 330 may be provided at a specific distance from the display unit 306 such that it substantially intersects a defined (e.g., virtual or software-defined) neck pivot axis corresponding to the pivot axis in the user's neck, as described below. In some embodiments, the defined neck pivot axis may be used as a reference for the movement of the display unit 306. In the described embodiments, the angle between the yaw axis 330 and the vertical axis (e.g., parallel to degree of freedom 316) varies based on the orientation of the tilt member 324 about the tilt axis 326. The yaw motion of the display unit 306 about the yaw axis 330 may be driven by one or more actuators (e.g., motors) using a drive mechanism such as a gear mechanism, a winch drive mechanism, etc. An example of a winch drive mechanism is described below. Figure 22 For more detailed description, the drive mechanism may include a winch drum 329 coupled to a winch pulley driven by a motor.

[0071] In some embodiments, other couplings or bearings may 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 rotary joint similar to the rotational coupling between the tilt member 324 and the arm support 304 may 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) that rotates about a horizontal axis is provided. Figures 23-25 The components 2324 and 2330 of the embodiment can provide tilting degree of freedom to the display unit 306, and the rotational coupling can provide yaw degree of freedom to the display unit 306.

[0072] The display system 300 therefore provides the display unit 306 with a vertical linear degree of freedom 316, a horizontal linear degree of freedom 322, a rotational (tilt) degree of freedom 327, and a rotational yaw degree of freedom 331. For example, the vertical and horizontal degrees of freedom allow the display unit 306 to move to any position within the permitted workspace (e.g., in a vertical plane), and the tilt degree of freedom allows the display unit to move to a specific orientation within its range of motion (e.g., in a vertical plane or a plane parallel to the vertical).

[0073] The components of the display system 300, through a combination of coordinated movements of at least two of these degrees of freedom, allow the display unit 306 to be positioned at various locations and orientations within its workspace, such as translating and / or rotating around the user, to facilitate a customized viewing experience for the user using the display unit. Movement of the display unit 306 with tilt, horizontal, and / or vertical degrees of freedom allows the display unit 306 to remain close to the user's head and eyes during head movements, and / or maintain the physical connection between the user's head (e.g., forehead) and the display unit 306.

[0074] For example, display unit 306 can be positioned (e.g., translated and / or rotated) within its workspace such that the user's eyes are aligned with the viewport of the display unit. Additionally, display unit 306 can rotate in physical space about a defined eye pivot axis that corresponds (e.g., coincides) with the eye axes of the user's two eyes to allow the user's desired vertical (e.g., up and down) eye viewing angle. The display unit can also be moved about a yaw axis 330 to allow the user's desired yaw (e.g., left and right) eye viewing angle or orientation. These rotations allow display unit 306 to be comfortably oriented so that the user can view the image through the viewport.

[0075] 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 located at any of a variety of positions 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 corresponding to the movement of a user's head when operating the display system 300. This movement may include rotation about a defined neck pivot axis, which generally corresponds to the neck axis of the user's head at the user's neck. This rotation allows the display unit 306 to move according to the user's head, which is guided, for example, using a head input device 342. The following describes the display unit about the neck pivot axis ( Figure 8-11 ) and the pivot axis of the eye ( Figure 12-14 Some examples of this kind of movement.

[0076] In another example, movement of display unit 306 may include rotation about a defined forehead pivot axis, which generally corresponds to a forehead axis extending through the user's head at the user's forehead when display unit 306 is oriented as shown in a centrally yaw rotation position about yaw axis 330. In some embodiments, the forehead pivot axis corresponds to a portion of the forehead axis extending through an input device (e.g., head input device 342) of display unit 306, wherein this 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 may be oriented parallel to tilt axis 326, for example, orthogonal to linear degrees of freedom 316 and 322. The forehead pivot axis may alternatively be positioned to correspond to different locations or portions of the user's forehead or display unit.

[0077] In another example, movement of the display unit 306 may include rotation about a defined hand input device pivot axis that generally corresponds to an axis extending through one or more hand input devices of the display unit 306 (examples described below). For example, this axis may 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 may be oriented parallel to the tilt axis 326, for example, orthogonal to linear degrees of freedom 316 and 322, similar to the neck, eye, and forehead pivot axes described above. The hand input device pivot axis may alternatively be positioned to correspond to different locations or portions of the display unit, for example, the locations of different hand input devices. For example, the hand input device pivot axis provides a rotation axis that can be commanded by the user to rotate the display unit 306 about this rotation axis by manipulating hand input devices 340a and 340b and / or by manipulating other user input devices (such as head input device 342, control input devices 210 and 212, etc.).

[0078] In another example, the motion of display unit 306 in its workspace may include, for example, linear motion based on linear translation with vertical linear degrees of freedom 316 and horizontal linear degrees of freedom 322, without rotational motion with tilt and / or yaw degrees of freedom 327 and / or 331. In another example, the motion may include both linear and rotational motion. For example, display unit 306 may move linearly and then rotationally in its workspace, and / or vice versa.

[0079] During rotation of the display unit 306 about a defined pivot axis, the movement of the base support 302 with vertical degree of freedom 316 and / or the movement of the arm support 304 with horizontal degree of freedom 322 can have a change in direction, whereas there is no change in direction during rotation of the display unit about the defined pivot axis. For example, when the display unit rotates from a fully upward position to a fully downward position, the arm support 304 can reverse its direction. Therefore, in some embodiments, it is possible for the base support or arm support to eventually be in the same position when the display unit has rotated about the defined pivot axis from a first orientation to a second orientation, wherein the support moves back and forth as the display unit changes between the two orientations.

[0080] Display unit 306 may include an input device that allows a user to provide input to manipulate the orientation and / or position of display unit 306 in space, and / or manipulate other functions or components of display system 300 and / or larger system (e.g., remote operating system).

[0081] For example, with targeting Figure 2 The description (in) Figure 2 A hand input device 340, similar to that shown as 206, can be provided on the display unit 306. For example, hand input device 340a is positioned on the left side of the display unit 306, and hand input device 340b is positioned on the right side of the display unit 306, or can be positioned on any surface of the display unit 306. Hand input devices 340a and 340b can be any of various types of user input devices (e.g., buttons, touchpads, force sensors, joysticks, knobs, trackballs, keyboards, etc.) that can be manipulated by a user's hand to provide user hand input to the hand input device 340. The hand input device 340 outputs control signals to the display system 300 based on user hand input. The control signals can 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 with linear degree of freedom 316, the arm portion 320 with linear degree of freedom 322, the tilting member 324 with rotational degree of freedom 327, and / or the display unit 306 with rotational degree of freedom 331, to cause the display unit 306 to move in response to sensed user hand input. The sensed user hand input can also be used to control other functions of the display system 300 and / or larger systems (e.g., Figure 1 The functions of the remote operating system 100.

[0082] The display unit 306 may include components for use with... Figure 2 The description (in) Figure 2 A similar head input device 342 (shown as 208) is described. In this example, the head input device 342 is positioned on the surface of the display unit 306, which 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 for sensing 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 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 a variety of types of sensors, such as resistive sensors, capacitive sensors, force sensors, optical sensors, etc.

[0083] The orientation and / or position of the display unit 306 can be changed by the display system 300 based on user head input to the head input device 342. For example, the sensed user input is provided to a control system that controls the actuators of the display system 300 to move the base portion 314 with linear degree of freedom 316, the arm portion 320 with linear degree of freedom 322, the tilting member 324 with rotational degree of freedom 327, and / or the display unit 306 with rotational degree of freedom 331, to cause the display unit 306 to move as commanded by the sensed user head input (e.g., according to 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 additionally or alternatively be used 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 Other functions of the remote operating system 100. Therefore, in some embodiments, a user can move his or her head to provide input to the input device to control the display unit 306 to move by the display system according to the head movement, thereby allowing the display unit to follow the user's head movement 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 a user moving backward) 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 actuator control.

[0084] In some embodiments, the display unit 306 may additionally or alternatively move in one or more of its described degrees of freedom in response to user input received from other input devices of the display system 300 or other connected systems. For example, additional hand input devices, such as... Figure 2 The control input devices 210 and 212, or other control devices, may be used. In some examples, the input devices may be coupled to a support surface that is coupled to the base support 302, or to an ergonomic support 214, etc. In some embodiments, user input received at the foot control 220 or other types of input devices may be used to move the display unit 306 with one or more of its degrees of freedom.

[0085] In some embodiments, the image displayed by the display unit 306 and / or other controlled devices is altered and manipulated based on sensed movement of the display unit 306, such as around a defined pivot axis within the workspace of the display unit. For example, up-and-down movement of the display unit around a defined neck pivot axis can modify the displayed image or view in the corresponding direction.

[0086] In some embodiments of the display system, the display unit 306 may 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 may rotate about the yaw axis 330 (e.g., by one or more actuators and / or manually by the user), and the display unit 306 may be manually positioned higher and / or lower (e.g., by one or more actuators and / or manually by the user) using, for example, a base support 302 or other mechanism, where the horizontal degree of freedom 322 and / or the tilt degree of freedom 327 are omitted.

[0087] In some example embodiments, the control unit includes a first support member, a second support member coupled to the first support member, and a display unit rotatably coupled to the second support member. The display unit and the second support member are linearly translatable relative to the first support member along a first axis with a first degree of freedom, the display unit is linearly translatable relative to the first and second support members along a second axis with a second degree of freedom, and the display unit is rotatable relative to the second support member about a third axis with a third degree of freedom. In another example, a tilting member is coupled to the display unit to the second support member, and the tilting member is rotatable relative to the tilting member about a fourth axis.

[0088] Figure 6 This is a side view of another example of a part of display system 600. Display system 600 includes components similar to those of display system 300 described above.

[0089] exist Figure 6 In the example, the second arm portion 620 of the arm support 604 includes a distal portion 623, which is larger than... Figures 3-5 The distal portion of the second arm portion 320 of the display system 300 extends vertically at a lower elevation. 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 may allow the tilt axis 626 to be positioned below the tilt axis 326 of the display system 300 and closer to a defined (virtual or software-defined) pivot axis about which the display unit is to rotate. For example, the defined pivot axis may be any of the examples defined herein, such as the eye pivot axis or neck pivot axis of the user 650 operating the display unit 606, examples of which pertain to... Figure 8-11 As shown.

[0090] Compared to a tilt axis positioned further away from the defined pivot axis, a tilt axis 626 positioned closer to the defined pivot axis may require less movement of the components of the display system 600 to cause the display unit 606 to rotate about 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 cost reductions in some embodiments due to reduced component size, motor size, etc.

[0091] Figure 7 This is a side view of yet another example of a display system 700. The display system 700 includes components similar to those described above for display systems 300 and 600.

[0092] exist Figure 7 In the example, the second arm portion 720 of the arm support 704 includes a distal portion 723, which is larger than... Figures 3-5 The distal portion 722 of the second arm portion 320 of the display system 300 extends vertically lower. The distal portion 722 includes an end extending vertically downward toward the base support 702 (e.g., away from the user position occupied by the user 750 when operating the display system). A tilt axis 726 is located at the end of the distal portion 722. This position of the tilt axis 726 is further downward and further away from the user position compared to the tilt axis 326 of the display system 300 and the tilt axis 626 of the display system 600.

[0093] The position of the tilt axis 726 can be advantageous in some embodiments, for example, by allowing the end of the distal portion 723 to be further away from the user 750, providing the user with a more open area to operate the display unit 706. Furthermore, this position allows for a reduction in the maximum gravitational load on the joint of the tilt axis 726, and also reduces the gravitational load on the display unit 706 in specific 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 frequently be located during operation). For example, the position of the tilt axis 726 can be closer to 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 position of the tilt axis 726 also alters the amount of movement required for the second arm portion 720, the second base portion 714, and / or the tilt member 724 compared to the tilt axis positions of the display systems 300 and 600. For example, the position of the tilt axis 726 may require less horizontal movement with degree of freedom 722 and more vertical movement with degree of freedom 716 than in display systems 300 and 600. This may be advantageous in some implementations, for example, to achieve greater rigidity of the display system, to operate within component or environmental constraints, etc.

[0094] In addition, such as Figure 7 As shown, the tilting member 724 can be reduced in length compared to the lengths of the tilting members 324 and 624 described in display systems 300 and 600. Additionally, the distance between the tilt axis 724 and the center of gravity of the components including the display unit 706 and the track mechanism to which the display unit 706 is coupled to the tilting 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 tilting member 724 can also increase stiffness and reduce the weight of the overall support structure.

[0095] 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 through a motor or other actuator used to drive the display unit 706 to rotate about the tilt axis 726, and can allow for additional operating headroom for the actuator and / or drive gear mechanism (allowing the actuator to output a greater force than is typically required to operate the display system 700).

[0096] Figure 8-11 This is a side view of a portion of a display system 800 according to some embodiments, showing rotation of the display unit about a pivot axis defined in the example neck. The display system 800 includes components similar to those of the display systems 300 and 600 described above.

[0097] exist Figure 8In this embodiment, a display system 800 is shown having a 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 be linearly translated through the interior of a 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 be linearly translated through the interior of the first arm portion 818 with a linear degree of freedom 822.

[0098] Similar to the example described above, display unit 806 is coupled to second arm portion 820 via tilting member 824. Tilting member 824 is rotatably coupled to second arm portion 820 at a first end and rotates about axis 826. Similarly to the example described above, display unit 806 can be rotatably coupled to a second end of tilting member 824 and rotates about axis 826 according to tilting member 824.

[0099] exist Figure 8 In this example, display unit 806 is oriented in a first pivotal orientation about a defined neck pivot axis 840, which may be generally horizontal and may extend generally parallel to the tilt axis 826 (e.g., orthogonal to the plane defined by degrees of freedom 816 and 822). In the illustrated example embodiment, neck pivot axis 840 is located below tilt axis 826. In some embodiments, the defined neck pivot axis 840 is positioned further away from base support 802 than display unit 806.

[0100] When the display unit 806 is oriented in a centrally yaw rotational orientation about yaw axis 830 as shown, a defined neck pivot axis 840 (and any defined neck pivot axes described herein) is oriented at a position aligned (generally aligned) with the pivot axis of a typical user's (such as user 850) neck. For example, the defined neck pivot axis may be a horizontal axis positioned to intersect with a position where the neck of a typical user operating the display unit is generally pivoted. This position may vary among different users (e.g., users of different heights, different neck sizes, etc.), and / or users may have different preferences regarding the location of the defined neck pivot axis, such that in some embodiments, a position determined (e.g., averaged) from 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 where it is generally aligned with a specific bone or any particular cervical vertebra (e.g., the atlas or axial bone of the neck) of the user operating the display unit. In other examples, the defined neck pivot axis may be defined to correspond to other positions on the user's neck.

[0101] The neck pivot axis 840 is a virtual axis defined by system parameters. Movement of the base support 802, arm support 804, and tilting member 824 can provide rotation about the neck pivot axis 840. Figure 8 The different locations shown are defined by the movement of these components as they rotate about the desired neck pivot axis.

[0102] Some implementations allow the position of the defined neck pivot axis to be changed, for example, through user input, to suit the specific preferences or physiological conditions of a particular user. In some examples, the defined neck pivot axis can be changed to different positions parallel to the tilt axis 826 (e.g., where the axis is orthogonal to the vertical plane defined by degrees of freedom 816 and 822), for example, new positions from the previous position upward, downward, forward, and / or backward in the user's viewpoint. In some implementations, stored profiles or settings can be stored in association with a particular user and applied to the display system used by that user. The stored profiles include preferred spatial positions for the defined neck pivot axis and / or the defined eye pivot axis (described below), either of which can be loaded for system operation. Some implementations can guide the user to determine a defined neck pivot axis customized for that user. For example, the system can output instructions to the user to bend their neck, straighten their 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., images captured by an image capture device). This data is used by the display system (or control system) to determine the recommended, defined position of the neck pivot axis for the user, and its description can be output by an output device (such as a display device of display unit 806).

[0103] In the first pivot 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 In the middle, 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 achieved 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.

[0104] Figure 8A defined eye pivot axis 860 is also shown. The defined eye pivot axis 860 is positioned corresponding to (e.g., coincidentally with) the eye axis, which intersects the eye of a typical user (such as user 850 viewing through the viewport of display unit 806 when display unit 806 is oriented in a central yaw rotation orientation about 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 degrees of freedom 816 and 822). When display unit 806 is oriented in a central yaw rotation orientation about axis 830 as shown, the defined eye pivot axis may be orthogonal to the view orientation of display unit 806. The view orientation of display unit 806 relative to eye pivot axis 860 is indicated by line of sight 862. Figure 8 In this context, 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. The following is about... Figure 12-14 The 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., the forehead pivot axis or the hand input device axis) can be implemented similarly to movement about the neck and / or eye pivot axes.

[0105] exist Figure 9 In this configuration, display unit 806 is oriented in a second pivot orientation about a neck pivot axis 840 to allow the user 850 an "upward" viewing angle. Angle A1 is an example angle of rotation of display unit 806 about the neck pivot axis 840, where angle A1 is the angle between the horizontal view orientation 842 and the neck axis view orientation 942 of display unit 806. The display unit 806 relative to the neck pivot axis 840 has been positioned and / or oriented as shown by moving the base support 802, arm support 804, and tilting member 824 to the positions and / or orientations shown. Figure 8 The first pivot orientation shown rotates about the neck pivot axis 840. For example, relative to Figure 8 The first pivot orientation shown is achieved by rotating the tilting member 824 upward to the angle shown (in... Figure 9 From the viewpoint of the user, the display unit 806 is moved to the second pivot orientation by linearly translating the second arm portion 820 away from the base support 802 and toward the user 850, 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 movement (translation) with degrees of freedom 822 and 816.

[0106] In some implementations... Figure 9 The viewing angle shown is upward from the display unit 806 (e.g., as shown in the image). Figure 9 The rotation limit is shown as counterclockwise. In other embodiments, the display unit 806 may rotate upwards (e.g., counterclockwise) before reaching the rotation limit in that direction. Figure 9 The larger quantity shown.

[0107] exist Figure 10 In this configuration, display unit 806 is oriented in a third pivot orientation, rotating about a defined neck pivot axis 840, to allow the user 850 a "downward" viewing angle. Angle A2 is an example angle of rotation of display unit 806 about neck pivot axis 840, where angle A2 is the angle between the horizontal view orientation 842 and the neck axis view orientation 1042 of display unit 806. Display unit 806 has been rotated about neck pivot axis 840 by moving base support 802, arm support 804, and tilting member 824 to the positions and / or orientations shown. For example, relative to... Figure 8 The first pivot orientation shown is achieved by rotating the tilting member 824 downward to the angle shown (in... Figure 10 From the viewpoint of the user, the second arm portion 820 is linearly translated with degree of freedom 822 toward the base support 802 and away from the user 850 to the position shown, and the second base portion 814 is linearly translated downward (e.g. toward the ground) to the position shown, thereby moving the display unit 806 to the third pivot orientation.

[0108] exist Figure 11 In this configuration, display unit 806 is oriented in a fourth pivot orientation about a defined neck pivot axis 840 to allow user 850 a further downward viewing angle. Angle A3 is an example angle of rotation of display unit 806 about neck pivot axis 840, where angle A3 is the angle between horizontal view orientation 842 and neck axis view orientation 1142 of display unit 806. Display unit 806 has been rotated about neck pivot axis 840 by moving base support 802, arm support 804 and tilting member 824 to the positions and / or orientations shown. For example, relative to Figure 10 The third pivot orientation shown is achieved by further rotating the tilting member 824 downward to the angle shown (in... Figure 11 From the viewpoint of the user, the second arm portion 820 is linearly translated with degree of freedom 822 toward the base support 802 and away from the user 850 to the position shown, and the second base portion 814 is linearly translated downward (e.g. toward the ground) to the position shown, thereby moving the display unit 806 to the fourth pivot orientation.

[0109] 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 the rotation of the display unit around the defined neck pivot axis 840.

[0110] Figure 12-14 This is a side view of a portion of a display system 800 according to some embodiments, showing the rotation of a display unit about a defined eye pivot axis. The display system 800 includes components similar to those of the display systems 300, 600, and 700 described above.

[0111] exist Figure 12 In this configuration, display unit 806 is oriented in a fifth pivot orientation, which rotates about a defined eye pivot axis 860 to allow the user 850 an upward viewing angle. Angle A4 is an example angle of rotation of display unit 806 about eye pivot axis 860, where angle A4 is the horizontal eye axis view orientation 862 of display unit 806 (e.g., ...). Figure 8 The angle between the display unit 806 and the eye axis view orientation 1262 (as shown). The display unit 806 has been positioned and / or oriented as shown by moving the base support 802, arm support 804, and tilting member 824 to the positions and / or orientations shown. Figure 8 The first pivot orientation shown rotates about the eye pivot axis 860. For example, relative to... Figure 8 The first pivot orientation shown is achieved by rotating the tilting member 824 upward to the angle shown (in... Figure 12 The display unit 806 is moved to the fifth pivot orientation by linearly translating the second arm 804 away from the base support 802 and toward the user 850 from the viewpoint (counterclockwise) 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 the rotation of the display unit 806 about the eye pivot axis 860 uses rotation about the tilt axis 826 and linear movement (translation) with degrees of freedom 822 and 816.

[0112] exist Figure 13In this configuration, display unit 806 is oriented in a sixth pivot orientation, which rotates about a defined eye pivot axis 860 to allow the user 850 a downward viewing angle. Angle A5 is an example angle of rotation of display unit 806 about eye pivot axis 860, where angle A5 is the angle between horizontal eye axis view orientation 862 and eye axis view orientation 1362 of display unit 806. Display unit 806 has been rotated about eye pivot axis 860 by moving base support 802, arm support 804 and tilting member 824 to the positions and / or orientations shown in the figure. For example, relative to Figure 8 The first pivot orientation shown is achieved by rotating the tilting member 824 downward to the angle shown (in... Figure 13 From the viewpoint of axis 826 clockwise, the second arm 804 is linearly translated with degree of freedom 822 toward the base support 802 and away from the user 850 by the distance shown, and the second base portion 814 is linearly translated downward (e.g. toward the ground) by the distance shown, thereby moving the display unit 806 to the sixth pivot orientation.

[0113] exist Figure 14 In this configuration, display unit 806 is oriented in a seventh pivot orientation, which rotates about a defined eye pivot axis 860 to allow the user 850 a further downward viewing angle. Angle A6 is an example angle of rotation of display unit 806 about eye pivot axis 860, where angle A6 is the angle between horizontal eye axis view orientation 862 and eye axis view orientation 1462 of display unit 806. Display unit 806 has been rotated about eye pivot axis 860 by moving base support 802, arm support 804 and tilting member 824 to the positions and / or orientations shown. For example, relative to Figure 8 The first pivot orientation shown is achieved by rotating the tilting member 824 downward to the angle shown (in... Figure 14 From the viewpoint of the user, the second arm 804 is linearly translated with degree of freedom 822 toward the base support 802 and away from the user 850 to the position shown, and the second base portion 814 is linearly translated downward (e.g., toward the ground) to the position shown, thereby moving the display unit 806 to the seventh pivot orientation.

[0114] Figure 15 and 16 These are perspective and side views of an example base support 1500 for a display system according to some embodiments. For example, the base support 1500 can be used as a base support 302 for a display system 300. Figures 3-5 ), display system 600 base support component 602 ( Figure 6 ) or the base support 702 of the display system 700 ( Figure 7 ).

[0115] The base support 1500 includes a retractable 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 supporting surface) and includes a hollow interior. The second base portion 1504 is an elongated member positioned within the interior of the first base portion 1502 such that it slidably engages with the first base portion 1502. In some embodiments, the second base portion 1504 may include a longitudinal (e.g., vertical) groove engaged by a mating portion of the first base portion 1502, or vice versa, to provide stability for the slidable engagement of the first and second base portions.

[0116] A drive mechanism applies 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 degree of freedom 1506. In this example, the drive mechanism includes a ball screw drive to transmit force from the actuators to the second base portion 1504. The actuator may be a rotary motor 1508 rigidly coupled to one end of the first base portion 1502, for example, coupled to the end of a grounding support. The motor 1508 has a rotational 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 with a threaded hole in 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 may be rotatably coupled to a support bearing 1514 at its second end, wherein the support bearing 1514 is rigidly coupled to the second base portion 1504. For example, the support bearing 1514 may 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.

[0117] In operation, motor 1508 outputs force on its rotatable shaft to cause ball screw 1510 to rotate. The rotation of ball screw 1510 causes ball screw nut 1512 and support bearing 1514 to move linearly along the longitudinal axis of ball screw 1510. The movement of ball screw nut 1512 is constrained by ball screw 1510 and by the sliding engagement of first base portion 1502 and second base portion 1504. The linear movement of ball screw nut 1512 causes second base portion 1504 to move linearly with degree of freedom 1506. The ball screw drive thus converts the rotational force from motor 1508 into a linear force applied to second base portion 1504. In some embodiments, motor 1508 may be coupled to a sensor such as a rotary encoder, which determines the rotational orientation of the motor shaft and ball screw 1510, which can be converted into a linear position of second base portion 1504 relative to first base portion 1502.

[0118] Motor 1508 can be any of a variety of actuators similar to those described herein for other embodiments. For example, an active actuator, such as a motor (e.g., a DC motor), voice coil, or other type of active actuator, can be used. Motor 1508 can be controlled using control signals from control circuitry, such as a remote operating system or other system. One or more sensors can be coupled to... Figure 15 One or more of the components 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 instead of a rotary encoder coupled to the motor 1508, a linear sensor may 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 may send signals describing the sensed position, orientation, or motion to one or more control circuits, such as the control system of the remote operating system 100. In some modes or embodiments, the control circuitry may provide control signals 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 magnetic sensors (e.g., magnetic incremental linear position sensors, Hall effect sensors, etc.), optical sensors, encoders, resistive sensors, etc.

[0119] In some implementations, an additional drive mechanism may be provided on the base support 1500 and coupled to the ergonomic support (e.g., Figure 2The ergonomic support 214 provides force to cause linear up-and-down movement of the ergonomic support and adapts to specific user preferences for support height. In some examples, an additional drive mechanism may be mounted to the outside of the base support 1500, while the drive mechanism for the second base portion 1504 may be provided on the inside of the base support 302, as shown. For example, the additional drive mechanism may use actuators and ball screw mechanisms similar to those described above, and / or different drive mechanisms.

[0120] Figure 17 and 18 These are perspective and side views of an example arm support 1700 for a display system according to some embodiments. For example, the arm support 1700 can be used as the arm support 304 of the display system 300. Figures 3-5 ), display system 600 arm support 604 ( Figure 6 ) or the arm support 704 of the display system 700 ( Figure 7 ).

[0121] The arm support 1700 includes a telescopic first arm portion 1702 and a second arm portion 1704. The first arm portion 1702 is an elongated member with a hollow interior and, in some embodiments, may be coupled to a base support, such as a second base portion 314, 614, or 714. Figure 15 The second base portion 1504. The second arm portion 1704 is an elongated member positioned inside the first arm portion 1702 such that it slidably engages with the first arm portion 1702. In some embodiments, the second arm portion 1704 may include a longitudinal (e.g., horizontal) groove engaged by a mating portion of the first arm portion 1702, or vice versa, to provide stability of the sliding engagement of the first and second arm portions.

[0122] The second arm portion 1704 is driven by one or more actuators to translate linearly within the first arm portion 1702 with degree of freedom 1706. In this example, a ball screw drive is used to transmit force from the actuator to the second arm portion 1704. The actuator may be a rotary motor 1708, rigidly coupled to one end of the first arm portion 1702 (e.g., coupled to the end of a ground support). The motor 1708 has a rotational 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 with a threaded hole in 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 may be rotatably coupled to the support 1714 at its second end, 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.

[0123] In operation, motor 1708 outputs force on its rotatable shaft to cause ball screw 1710 to rotate. The rotation of ball screw 1710 causes ball screw nut 1712 to move linearly along the longitudinal axis of ball screw 1710. The movement of ball screw nut 1712 is constrained by ball screw 1710 and by the sliding engagement of first arm portion 1702 and second arm portion 1704. The linear movement of ball screw nut 1712 causes second arm portion 1704 to move linearly with degree of freedom 1706. The ball screw drive thus converts the rotational force from motor 1708 into a linear force applied to second arm portion 1704. In some embodiments, motor 1708 may be coupled to a sensor such as a rotary encoder, which determines the rotational orientation of the motor shaft and ball screw 1710, which can be translated into a linear position of second arm portion 1704 relative to first arm portion 1702.

[0124] Motor 1708 can be any of a variety of actuators similar to those described herein for other embodiments, such as active actuators, like motors (e.g., DC motors), voice coils, or other types of active actuators. Motor 1708 can be controlled using control signals from control circuitry, such as from a remote operating system or other system. One or more sensors can be coupled to... Figure 17One or more of the components 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 instead of a rotary encoder coupled to the motor 1708, a linear sensor may be coupled to the first arm portion 1702 and / or the second arm portion 1704 to sense linear movement of the second arm portion 1704 relative to the first arm portion 1702. The sensor may send signals describing the sensed position, orientation, or movement to one or more control circuits, such as the control circuitry of the remote operating system 100. In some modes or embodiments, the control circuitry may provide control signals to the manipulator system indicating the sensed position, orientation, or movement. The sensor may be any of a variety of types of sensors, such as magnetic sensors (e.g., magnetic incremental linear position sensors, Hall effect sensors, etc.), optical sensors, encoders, resistive sensors, etc.

[0125] Figure 19 , 20 21 and 22 are respectively a side view, a front view, and a perspective view of an example tilting mechanism 1900 according to some embodiments.

[0126] The tilting mechanism 1900 includes a tilting member 1902 and a tilting drive mechanism 1904. For example, the tilting member 1902 can be used as the tilting member 324 of the display system 300. Figures 3-5 ), tilting member 624 of display system 600 ( Figure 6 ) or tilting member 724 of display system 700 ( Figure 7 For example, display units (such as display unit 306) Figure 3 ), display unit 606 ( Figure 6 ) or display unit 706 ( Figure 7 The display unit can be coupled to the tilting member 1902 in a similar manner to that described above. For example, the display unit can be coupled to a portion 1905 of the tilting member 1902, an example of which is shown below. Figure 22 Describe it.

[0127] The tilting member 1902 is rotatably coupled to the support member 1906. In some examples, the support member 1906 may 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 tilting member 1902 may rotate about a tilt axis 1908, which may be, for example, tilt axes 326, 626, or 726 described above.

[0128] The tilting drive mechanism 1904 may include one or more actuators to drive the tilting member 1902 to rotate about the tilting axis 1908 to a particular orientation. In this example, the motor 1910 includes a driven shaft 1911 rigidly coupled to extensions 1912 and / or 1913 of the tilting member 1902. The motor 1910 has a housing rigidly coupled to a support 1906. When the shaft 1911 is rotated by the motor 1910, the tilting member 1902 rotates about the tilting axis 1908. In some embodiments, the driven shaft 1911 of the motor 1910 may be coupled to both the first extension 1912 and the second extension 1913 of the tilting member 1902, or the driven shaft may be coupled to one of the first extension 1912 and the second extension 1913. In some embodiments, the tilting member 1902 includes a single extension 1912 or 1913.

[0129] 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). Motor 1910 can be controlled using control signals from control circuitry, such as those from a remote operating system or other system.

[0130] In some embodiments, the motor 1910 is coupled to a drive transmission 1914 that can provide gear transmission of the output rotation of the motor shaft to increase or decrease the rotation of the connected tilting member 1902, rather than allowing the tilting member 1902 to rotate directly by the same amount as the motor shaft 1911. The drive transmission 1914 includes a shaft 1915 rigidly coupled to an extension member 1912 of the tilting member 1902. For example, the drive transmission 1914 can provide gear transmission such that a full rotation of the drive shaft 1911 provides a partial rotation of the shaft 1915, thereby causing a partial rotation of the tilting member 1902. In some examples, the drive transmission 1914 is a harmonic drive mechanism. In some embodiments, different drive transmissions may be used, such as winch drives, mechanical gears, etc.

[0131] One or more sensors may be coupled to one or more components of the tilting mechanism 1902, operable to detect rotation of the tilting member 1902 about axis 1908. For example, in some embodiments, sensor 1916 (e.g., a rotary encoder) is coupled to shaft 1911 of motor 1910 and determines the rotational orientation of shaft 1911, such that the rotational orientation of the tilting member 1902 about axis 1908 can be determined (e.g., considering the reduction in rotation provided by drive transmission 1914). In some embodiments, sensors may be coupled to other components of the tilting mechanism 1900 to sense the rotational orientation of the tilting member 1902 about axis 1908. The sensors (one or more) may send signals describing the sensed position, orientation, or motion to one or more control circuits, such as the control system of remote operating system 100. In some modes or embodiments, the control circuits may provide control signals to the manipulator system indicating the sensed position, orientation, or motion. The sensors may be any of a variety of types of sensors, such as rotary encoders, magnetic sensors (e.g., magnetic incremental linear position sensors, Hall effect sensors, etc.), optical sensors, encoders, resistive sensors, etc.

[0132] Figure 22 This is a perspective view of an example display unit mechanism 2200 according to some embodiments. The display unit mechanism 2200 couples display units 2202 to an inclined member 2204. For example, the display units 2202 may be respectively Figures 3-5 Display units 306, 606, or 706, of type 6 or 7. In another example, the tilting member 2204 may be... Figure 3 , 6 Or the inclined member 324, 624 or 724 of 7, or Figure 19-21 Inclined member 1902.

[0133] The display unit mechanism 2200 includes a rotation mechanism that rotatably couples the display unit 2202 to the tilting member 2204 and allows the display unit 2202 to pivot relative to the tilting member 2204 about an axis 2206. In this example, the axis 2206 may be perpendicular to the axis 2208 about which the tilting member 2204 rotates. For example, the axis 2206 may be one of the axes 2208 and 2208 respectively. Figure 3 , 6 Or axis 330, 630 or 730 as described in 7, and axis 2208 may be Figure 19-21 The axis 1908, or respectively in Figure 3 , 6 Or the inclined axes 326, 626 or 726 in 7.

[0134] In this example, the rotating mechanism is a track mechanism including an arcuate track support comprising an arcuate track 2210 and a recessed member 2212. The arcuate track 2210 is rigidly coupled to the display unit 2202 and slidably engages with a recess or hole in the recessed member 2212, which is coupled to or a portion of an inclined member 2204. The curvature of the arcuate track 2210 allows the display unit 2202 to pivot about axis 2206 by sliding the arcuate track 2210 along its length within the recess of the recessed member 2212. In some other embodiments, the arcuate track may be coupled to the inclined member 2204, and the recessed member (or a slidably engaging arcuate guide) may be coupled to the display unit 2202, wherein the recessed member rotates together with the display unit 2202 about axis 2206 along the length of the arcuate track.

[0135] Display unit mechanism 2200 includes a drive mechanism that outputs force to display unit 2202 and drives display unit 2202 about axis 2206. In this example, the drive mechanism includes a winch drum 2216, which in some embodiments is rigidly coupled to an arcuate track 2210 (or in some embodiments may be included as an integral part of the arcuate track 2210). The drive mechanism includes a motor 2218 having a housing rigidly coupled to the tilting member 2204. Motor 2218 can be any of a variety of actuators, such as active actuators, such as motors (e.g., DC motors), voice coils, or other types of active actuators. Motor 2218 can be controlled using control signals from control circuitry from, for example, a remote operating system or other system.

[0136] The rotational shaft of motor 2218 rotates about a rotational axis 2220, which may, for example, be parallel to the axis 2206 around which display unit 2202 rotates. The shaft of motor 2218 is rigidly coupled to winch pulley 2222 and causes winch pulley 2222 to rotate about axis 2220. In some embodiments, winch pulley 2222 is coupled to winch drum 2216 via cable 2224. For example, a first end of cable 2224 may be attached to a first end 2226 of winch drum 2216, travel along the side surface of winch drum 2216, be wound around winch pulley 2222, and travel along the surface of winch drum 2216 to a second end 2228 where a second end of cable is attached. In some implementations, two cables may be used, for example, a first cable having a first end attached to a first end 2226 of the drum and a second end attached to a winch pulley 2222, and a second cable having a first end attached to a second end 2228 of the drum and a second end attached to a winch pulley 2222, the two cables traveling along the side surface of the winch drum 2216.

[0137] In operation, motor 2218 is controlled to rotate its shaft about axis 2220, thereby causing the winch pulley 2222 to rotate. The rotation of the winch pulley 2222 causes movement of one or more cables 2224 via the winding and unwinding of the cables around the winch pulley 2222. This movement of the cables 2224 causes the display unit 2202 to rotate about axis 2206, guided by the arcuate track 2210 in the groove or hole of the recessed member 2212.

[0138] In some embodiments, a brake may be provided to stop the movement of the display unit 2202 about axis 2206, for example, during periods when the display system is not in use. For example, a brake that applies a braking force about axis 2206 may be used when power is removed to prevent rotation of the display unit 2202, for example, during non-operational periods. In various embodiments, the brake may include a rotary brake coupled to the shaft of motor 2218 or coupled to winch pulley 2222 to reduce or prevent rotation of the motor shaft, and / or the brake may include a linear brake positioned between the tilting member 2204 and the display unit 2202 and / or between the tilting 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.

[0139] One or more sensors may be coupled to one or more components of the display unit assembly 2200, operable to detect rotation of the display unit 2202 about axis 2206. For example, in some embodiments, sensor 2230 (e.g., a rotary encoder) is coupled to the shaft of motor 2218 and determines the rotational orientation of the motor shaft in order to detect the rotational orientation of the display unit 2202 about axis 2206. In some embodiments, sensors may be coupled to other components of the display unit assembly 2200 to sense the rotational orientation of the display unit 2202. The sensors (one or more) may send signals describing the sensed position, orientation, or motion to one or more control circuits, such as the control system of the remote operating system 100. In some modes or embodiments, the control circuits may provide control signals to the manipulator system indicating the sensed position, orientation, or motion. The sensors may be any of a variety of types of sensors, such as rotary encoders, magnetic sensors (e.g., magnetic incremental linear position sensors, Hall effect sensors, etc.), optical sensors, encoders, resistive sensors, etc.

[0140] In other example implementations, the arc track 2210 and the winch drum 2216 may be coupled to the tilting member 2204, and the groove member 2212 and the motor 2218 may be coupled to the display unit 2202.

[0141] Figure 23 This is a perspective view of an example of another embodiment of the display system 2300 according to some implementation methods. Figure 24 This is a front view of an example of another embodiment of the display system 2300 according to some implementations, and Figure 25 This is a side view of an example of another embodiment of the display system 2300 according to some implementations. In some examples, the display system 2300 can be used as for... Figure 1 In the user control system 102 of the remote operating system described elsewhere in this document, or may be used in other systems or as a stand-alone system as described above. Unless otherwise stated, the features of display system 2300 may be similar to those described above. Figure 3 The features of the display system 300.

[0142] 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 via a support linkage device, which includes the base support 2302, the arm support 2304 coupled to the base support 2302, and a track mechanism including a track member and a sliding member (described below) coupled to the arm support 2304. The display unit is coupled to the sliding member.

[0143] In some embodiments, the base support 2302 and the arm support 2304 may be as described above. Figure 3-7 The description is similarly implemented. In some examples, the base support 2302 is a vertical member that is mechanically grounded (coupled to the ground). The base support 2302 may 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 the proximal portion of the base support 2302, which may be mechanically grounded, and the second base portion 2314 is the distal portion of the base support 2302, which is linearly coupled to the first base portion 2312, such that the second base portion 2314 can translate relative to the first base portion 2312 with linear degrees of freedom. In some examples, the first base portion 2312 and the second base portion 2314 are retractably coupled, for example, the first base portion 2312 is a first retractable base portion and the second base portion 2314 is a second retractable base portion, such that one of the portions 2312 or 2314 is configured as a tube or sleeve having a hollow interior, and the other of the portions 2314 or 2312 extends through the hollow interior. Figures 23-25In the example, the second base portion 2314 can be linearly translated through the interior of the first base portion 2312 with linear degrees 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), as shown in the reference above. Figure 15 and 16 Similar to the description. Other implementations may use different configurations. For example, the first base portion 2312 may extend through the interior of the second base portion 2314, such 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 may be positioned adjacent to each other along their vertical length to allow linear translation.

[0144] Arm support 2304 is a horizontal member mechanically coupled to base support 2302. Arm support 2304 may include a first arm portion 2318 and a second arm portion 2320. The first arm portion 2318 is the proximal portion of arm support 2304, which is rigidly coupled to a second base portion 2314 of base support 2302, and the second arm portion 2320 is the distal portion of arm support 2304, which is linearly coupled to the first arm portion 2318, such that the second arm portion 2320 can be linearly translated relative to the first arm portion 2318 with linear degrees of freedom. In some examples, the first arm portion 2318 and the second arm portion 2320 are telescopically coupled, for example, the first arm portion 2318 is a first telescopic arm portion and the second arm portion 2320 is a second telescopic arm portion, such that one of the portions 2318 or 2320 is configured as a tube or sleeve having a hollow interior, and the other of the portions 2320 or 2318 extends through the hollow interior. Figures 23-25 In the example, the second arm portion 2320 can be linearly translated through the interior of the first arm portion 2318 with linear degrees 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 per [reference to...]. Figure 17 and 18 Described in more detail. Other embodiments may use different configurations; for example, the first arm portion 2318 may extend through the interior of the second arm portion 2320, such that the second arm portion 2320 can be linearly translated relative to the first arm portion 2318. In other examples, arm portions 2318 and 2320 may be positioned adjacent to each other along their vertical length to allow linear translation.

[0145] In some embodiments, the first arm portion 2318 and the second base portion 2314 may be considered as 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 the vertical second base portion 2314, the first arm portion 2318 and the second base portion 2314 being orthogonally oriented to each other. The second arm portion 2320 is translatable horizontally relative to the intermediate support with a degree of freedom 2322, and the intermediate support and the second arm portion 2320 are translatable vertically relative to the first base portion 2312 with a degree of freedom 2316.

[0146] In some examples as shown, arm support 2304 extends along a horizontal axis orthogonal to the vertical axis, and base support 2302 extends along the vertical axis. In some examples, base support 2302 and arm support 2304 are fixed in orientation relative to each other; for example, they translate but do not change their orientation relative to each other. In some examples, arm support 2304 extends along an axis above the user operating the display unit and extends through the vertical axis of base support 2302 through the first arm portion 2318 of arm support 2302. In other embodiments, arm support 2304 may extend at other heights and / or configurations, such as below the user's head or body, at the user's head height, behind the user, and around the user's yoke. Some embodiments may provide components in display system 2300 to reduce vibration in the supports and components of display system 2300, providing a smoother experience for the user operating display unit 2306, and for applications targeting... Figures 3-5 Similar to what is described.

[0147] The display unit 2306 is mechanically coupled to the arm support 2304. The display unit 2306 can move with 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.

[0148] Display unit 2306 includes a display device capable of displaying images, such as one or more displays, projectors, or other display devices. In some embodiments, such as Figures 23-25 As shown, the display unit 2306 includes two viewports 2323, and the display device is provided behind or included in the viewports. In some embodiments, one or more displays or other display devices may be positioned on the display unit 2306 in place of the viewports 2323.

[0149] The display unit 2306 is connected to the arm support 2304 via the track member 2324 and the sliding member 2330. Figures 23-25 In the example, the first end of track member 2324 is rigidly connected to the distal end of the second arm portion 2320. Track member 2324 extends from its first end to its second end in an arc or curved configuration. For example, in Figures 23-25 In this orientation, the second end of the track member 2324 is lower than the first end. In this example, the track member 2324 extends generally downward (towards 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 around a central axis (e.g., axis 2326). In some embodiments, the track member 2324 does not include a linear segment or portion.

[0150] 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, such as Figures 23-25 As shown, the sliding member 2330 includes a hole 2329 (or slot or groove) extending through the sliding member, and a 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 locations 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.

[0151] exist Figures 23-25In the example, track component 2324 extends along an arcuate path about axis 2326, which is the tilt axis of display unit 2306. In some embodiments, the radius of the arcuate track component 2324 determines the location of tilt axis 2326. For example, tilt axis 2326 may extend through a point a radial distance from track component 2324, located at the center of a circle (or other shape) at least partially traced by track component 2324. For example, as sliding component 2330 and display unit 2306 move along track component 2324, these components rotate about tilt axis 2326 with rotational (tilting) degree of freedom 2327 relative to second arm portion 2320. In some embodiments, tilt axis 2326 is orthogonally oriented to the linear degrees of freedom provided to display unit 2306 by base support 2302 and arm support 2304. For example, the sliding member 2330 can provide rotational freedom to the display unit 2306 in a vertical plane that is the same as or parallel to the vertical plane in which 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 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 as a support linkage having the display unit 2306 coupled to the distal end of the support linkage.

[0152] 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. The following is about... Figure 26-31 Some examples of this rotation are described about a defined pivot axis.

[0153] In some other example embodiments, different mechanisms may be used to slidably or movably couple the display unit 2306 to the track member 2324. For example, a cam roller may be coupled to the display unit 2306, and the track member 2324 may be a cam follower. The cam roller engages the cam follower. For example, the cam roller may be rotatably coupled to the display unit 2306, and in some embodiments, has a rotational axis orthogonal to the yaw axis 2332. The cam roller may be cylindrical and may roll along the arcuate surface of the cam follower to provide rotational movement about the tilt axis 2326. For example, the cam roller may be held against the cam follower by a wall or ridge of the cam follower. In some embodiments, the cam follower (track member 2324) may be rigidly coupled to the display unit 2306, and the cam roller may be rotatably coupled to the tilt member 2324 such that the cam follower moves together with the display unit 2306 about the tilt axis 2326.

[0154] 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 rotary motor 2328 can be rigidly coupled to the sliding member 2330, and the rotation axis of the motor 2328 can be coupled to a winch pulley (e.g., similar to...). Figure 22 (See winch pulley 2222). A cable can be coupled between a first end and a second end of the track member 2324 and extends along the 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 one shown regarding...). Figure 22 (Described winch drive mechanism). In some embodiments, two cables may be used instead of the cable, for example, a first cable having a first end attached to a first end of a first end of a track member 2324 and a second end attached to a winch pulley, and a second cable having a first end attached to a second end of a second end of a track member 2324 and a second end attached to a winch pulley, wherein the two cables travel along the side surface of the track member 2324.

[0155] Using this winch drive mechanism, motor 2328 can be controlled to rotate the winch pulley in either direction and move (one or more) cables, which pull the display unit 2306 along the track member 2324 in the corresponding direction. Motor 2328 can be controlled by control signals from control circuitry (e.g., a control system) to move the display unit 2306 about a tilt axis 2326 to a specific orientation with tilt freedom 2327. Other embodiments may use different drive mechanisms to move the display unit 2306 along the track member 2324.

[0156] In some embodiments, the display unit 2306 is rotatably coupled to the sliding member 2330 and can rotate about a yaw axis 2332 relative to the sliding member 2330 (and relative to the track member 2324, arm support 2304, and base support 2302). For example, this could 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. Figures 23-25 In the example, display unit 2306 is coupled to sliding member 2330 via a rotation mechanism, which may be a track mechanism. For example, in some embodiments, the track mechanism includes an arcuate track support, which includes an arcuate track 2334, and the arcuate track 2334 is coupled to display unit 2306, and the arcuate track 2334 is slidably engaged with a groove member rigidly coupled to sliding member 2330, for example, as described above for... Figure 3 and 22The operation is similarly described. This 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 may be approximately as long as the width of the sliding member 2330 and / or include at least a portion of the loop through which the arcuate track 2334 slides.

[0157] In some embodiments, the arcuate track 2334 is an arcuate guide rail that slidably engages the groove member as described. In some embodiments, different mechanisms may be used. In some examples, the arcuate track 2334 may be an arcuate cam follower engaging a cam roller. For example, the cam roller may be rotatably coupled to the display unit 2306 and, in various embodiments, have a rotation axis orthogonal to or parallel to the yaw axis 2332. For example, the cam roller may be cylindrical and may roll along the arcuate surface of a cam follower rigidly coupled to the sliding member 2330. For example, the cam roller may be held against the cam follower by a wall or ridge of the cam follower. In some embodiments, the cam follower may be rigidly coupled to the display unit 2306, and the cam roller may be rotatably coupled to the sliding member 2330.

[0158] The curvature (e.g., radius) of the curved track 2334 and / or the groove member is selected to provide a 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 may be provided at a horizontal distance from the display unit 306 (parallel to the horizontal degree of freedom 2322) such that it substantially intersects a defined (virtual or software-defined) neck pivot axis corresponding to the pivot axis in the user's neck, as described below. In some embodiments, the defined neck pivot axis may be used as a reference for the 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 degree of freedom 2316) varies based on the orientation of the display unit 2306 about the tilt axis 2326.

[0159] The yaw motion 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 may be a rotary motor rigidly coupled to the sliding member 2330 and having a rotatable shaft that outputs force on the display unit about the yaw axis 2332 using a drive transmission. In some examples, the drive transmission may include, for example, the one referenced above. Figure 22 The described winch drive mechanism is similar to other winch drive mechanisms. For example, the driven shaft of motor 2340 can be coupled to winch pulley 2342. Cables 2344 can be attached to both ends of winch drum 2336, which is rigidly coupled to arc track 2334, with the cable wound around winch pulley 2342, or two cables can be attached between the respective ends of winch pulley 2342 and winch drum 2336. Motor 2340 rotates winch pulley 2342 to move (e.g., wind and unwind (one or more) cables on the pulley), thereby causing winch drum 2336, arc track 2334, and display unit 2306 to rotate about yaw axis 2332. In some embodiments, other transmission devices and / or couplings may be used to provide rotational movement of the display unit 2306 relative to the track member 2324 and the arm support member 2304 about the yaw axis 2332, for example, using a rotary joint similar to that described above for the display system 300.

[0160] The display system 2300 therefore provides the display unit 2306 with a vertical linearity degree of freedom 2316, a horizontal linearity degree of freedom 2322, a rotational tilt degree of freedom 2327, and a rotational yaw degree of freedom 2333. For example, the vertical and horizontal degrees of freedom allow the display unit 2306 to move to any position within its range of motion or permitted workspace (e.g., within a vertical plane), and the tilt degree of freedom allows the display unit to move to a specific orientation within its range of motion (e.g., within a vertical plane or a parallel vertical plane).

[0161] The components of the display system 2300, through a combination of coordinated movements of at least two of these degrees of freedom, allow the display unit 2306 to be positioned at various locations and orientations within its workspace, such as translating or rotating around the user, to facilitate a customized viewing experience for the user using the display unit. Movement of the display unit 2306 with tilt, horizontal, and / or vertical degrees of freedom allows the display unit 2306 to remain close to the user's head and eyes during head movements, and / or maintain the physical connection between the user's forehead and the display unit 2306.

[0162] For example, display unit 2306 can be positioned (e.g., translated and / or rotated) within its workspace such that the user's eyes are aligned with the viewport of the display unit. Additionally, display unit 2306 can rotate in physical space about a defined eye pivot axis that corresponds to (e.g., coincides with) the eye axes passing 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 about a yaw axis 2332 to allow the user's desired yaw (e.g., left and right) eye viewing angle. These rotations allow display unit 2306 to be comfortably oriented so that the user can view the image through the viewport.

[0163] The degrees of freedom 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 can be positioned at any of a variety of locations within the workspace of the display unit 2306. For example, the system 2300 can provide movement of the display unit 2306 in physical space corresponding to the movement of a user's head when operating the display system 2300. This movement may include rotation about a defined neck pivot axis, which generally corresponds to the neck axis of the user's head at the user's neck. This rotation allows the display unit 2306 to move according to the user's head, for example, using... Figures 3-5 The head input device 342 shown is a similar head input device used to guide the movement of the display unit 2306. The following describes the display unit's rotation around the neck pivot axis (…). Figures 26-29 ) and the pivot axis of the eye ( Figures 30-31 Some examples of this kind of movement.

[0164] In another example, movement of display unit 2306 may include rotation about a defined forehead pivot axis, which generally corresponds to a forehead axis extending through the user's head at the user's forehead when display unit 2306 is oriented in a central yaw rotation orientation about a yaw axis 2332, as shown. In some embodiments, the forehead pivot axis corresponds to an input device (e.g., with) the display unit 2306. Figures 3-5 The defined forehead pivot axis is a portion of the forehead of a head input device (similar to head input devices 342), wherein this portion is located at or near the contact point between the user's forehead and the input device. In some embodiments, the defined forehead pivot axis may be oriented parallel to the tilt axis 2326, for example, orthogonal to linear degrees of freedom 2316 and 2322. The defined forehead pivot axis may alternatively be positioned corresponding to different locations or portions of the user's forehead or display unit.

[0165] In another example, movement of the display unit 2306 may include 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, this axis may 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 the grip). In some embodiments, the defined hand input device pivot axis may be oriented parallel to the tilt axis 2326, for example, orthogonal to linear degrees of freedom 2316 and 2322, similar to the neck, eye, and forehead pivot axes described above. Alternatively, the hand input device pivot axis may be positioned to correspond to different locations or portions of the display unit, for example, the locations of different hand input devices. For example, the pivot axis of the hand input device provides a rotation axis, which can be used by the user to command the display unit 2306 to rotate around the rotation axis by manipulating the hand input devices 2340a and 2340b and / or by manipulating other user input devices (such as head input device 342, control input devices 210 and 212, etc.).

[0166] In another example, the motion of display unit 2306 in its workspace may include, for example, linear motion based on linear translation with vertical linear degrees of freedom 2316 and horizontal linear degrees of freedom 2322, without rotational motion with tilt and / or yaw degrees of freedom 2327 and / or 2333. In another example, the motion may include both linear and rotational motion. For example, display unit 2306 may move linearly and then rotationally in its workspace, and / or vice versa.

[0167] During rotation of the display unit 2306 about a defined pivot axis, the movement of the base support 2302 with a vertical degree of freedom 2316 and / or the movement of the arm support 2304 with a horizontal degree of freedom 2322 can have a change in direction, whereas there is no change in direction during the rotation of the display unit about the defined pivot axis. For example, when the display unit rotates from a fully upward orientation to a fully downward orientation, the arm support 2304 can reverse its direction. Therefore, 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 rotated about the defined pivot axis from a first orientation to a second orientation, wherein the support moves back and forth as the display unit changes between the two orientations.

[0168] Display unit 2306 may include input devices to allow a user to provide input to manipulate the orientation and / or position of display unit 2306 in space, and / or manipulate other functions or components of display system 2300 and / or larger system (e.g., remote operating system). Regarding Figures 3-5Examples of input devices (e.g., hand input device 340 and head input device 342) are described, and such input devices can be used in display system 2300, for example, provided in a similar manner on the side and / or forward-facing surface of display unit 2306. 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 description similarly controls the movement of the display unit 2306 and / or the displayed images and other components.

[0169] In some embodiments of the display system, the display unit 2306 may 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 may (e.g., by means of one or more actuators and / or manually by the user) rotate about the yaw axis 2332, and the display unit 2306 may be manually positioned higher and / or lower (e.g., by means of one or more actuators and / or manually by the user) for example using the base support 2302 or other mechanisms, and the horizontal degree of freedom 2322 and / or the tilting degree of freedom 2327 are omitted.

[0170] Figures 26-29 This is a side view of a portion of a display system 2600 according to some embodiments, showing rotation of the display unit about a neck pivot axis defined in the example. The display system 2600 includes components described above. Figures 23-25 The display system 2300 is similar to other components.

[0171] exist Figure 26 In the diagram, display system 2600 is shown having 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 example described above, base support 2602 includes a grounded first base portion 2612 and a second base portion 2614. The second base portion 2614 can be linearly translated through the interior of the 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 the second base portion 2614. The second arm portion 2620 can be linearly translated through the interior of the first arm portion 2618 with a linear degree of freedom 2622.

[0172] Display unit 2606 and the above-mentioned Figures 23-25The example described similarly connects to the second arm portion 2620 via a track member 2624 and a sliding member 2630. 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 about the tilt axis 2626 according to the movement of the sliding member 2630 along the track member 2624.

[0173] exist Figure 26 In this embodiment, display unit 2606 is oriented in a first pivoting orientation about a defined neck pivot axis 2640, which may be generally horizontal and may extend generally parallel to the tilt axis 2626 (e.g., orthogonal to the plane defined by degrees of freedom 2616 and 2622). In an example embodiment, neck pivot axis 2640 may be positioned to intersect with the head or neck of the user 2650 of display unit 2606. For example, when display unit 2606 is oriented in a central yaw rotation orientation about yaw axis 2632 as shown, neck pivot axis 2640 is positioned aligned (generally aligned) with the pivot axis of the neck of a typical user (such as user 2650). The neck pivot axis is the position where the neck of a typical user operating the display unit is generally pivoted. This location can vary among different users (e.g., users of different heights, neck sizes, etc.), and / or users can have different preferences regarding the location of the defined neck pivot axis, such that in some implementations, a location determined (e.g., averaged) from the preferred pivot positions of multiple users can be used for the defined neck pivot axis. In some example implementations, the defined neck pivot axis may be located at a position substantially aligned with a specific bone or any particular cervical vertebra (e.g., the atlas or axial bone of the neck) of the user operating the display unit. In other examples, the defined neck pivot axis may be defined as corresponding to other locations on the user's neck.

[0174] The neck pivot axis 2640 is a virtual axis defined by system parameters. Movement of the base support 2602, arm support 2604, and sliding member 2630 can provide rotation about the neck pivot axis 2640. Figure 26The different locations shown are defined by the movement of these components as they rotate about a desired neck pivot axis. Some implementations may allow the position of the defined neck pivot axis to be changed, for example, by user input, to suit a particular user's specific preferences or physiological condition. In some examples, the defined neck pivot axis may be changed to different positions where the defined neck pivot axis is parallel to the tilt axis 2626 (e.g., the axis is orthogonal to the vertical plane defined by degrees of freedom 2616 and 2622), for example, new positions in the user's viewpoint from a previous position upward, downward, forward, and / or backward. In some implementations, stored profiles or settings may be stored in association with a particular user and applied to the display system used by that user, wherein the profile includes preferred positions for the defined neck pivot axis and / or the defined eye pivot axis (described below), either of which may be loaded for system operation. These and other features (e.g., guiding the user to determine the defined neck pivot axis) may be similar to those regarding... Figure 8 Those characteristics described.

[0175] exist Figure 26 In the first pivot orientation shown, for example, display unit 2606 may be in a horizontal view orientation about the neck pivot axis 2640. For example, the view orientation of display unit 2606 relative to the neck pivot axis 2640 is indicated by line 2642. Figure 26 In the center, line 2642 extends horizontally through the neck pivot axis 2640. The rotation of display unit 2606 about the neck pivot axis 2640 is achieved by moving part 2614 of base support 2602, part 2620 of arm support 2604, and sliding member 2630 to the appropriate position and / or orientation.

[0176] Figure 26 A defined eye pivot axis 2660 is also shown. The defined eye pivot axis 2660 is positioned corresponding to (e.g., coincidentally with) the eye axis, which intersects the eye of a typical user (such as user 2650 viewing through the viewport of display unit 2606 when display unit 2606 is oriented in a central yaw rotation orientation about yaw axis 2632 as shown). In some embodiments, the defined eye pivot axis extends generally parallel to the tilt axis 2626 (e.g., orthogonal to the plane defined by degrees of freedom 2616 and 2622). When display unit 2606 is oriented in a central yaw rotation orientation about axis 2632 as shown, the defined eye pivot axis may be orthogonal to the view orientation of display unit 2606. The view orientation of display unit 2606 relative to eye pivot axis 2660 is indicated by line of sight 2662. Figure 26In this configuration, 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. The following section discusses... Figure 31 and 32 The 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., the forehead pivot axis or the hand input device axis) can be similarly implemented as movement about the neck and / or eye pivot axes.

[0177] exist Figure 27 In this configuration, display unit 2606 is oriented in a second pivot orientation about a defined neck pivot axis 2640 to allow the user 2650 an "upward" viewing angle. Angle A1 is an example angle of rotation of display unit 2606 about the neck pivot axis 2640, where angle A1 is the angle between the horizontal view orientation 2642 and the neck axis view orientation 2742 of display unit 2606. Display unit 2606 relative to the neck axis view axis 2650 has been configured by moving the base support 2602, arm support 2604, and sliding member 2630 to the positions and / or orientations shown in the figure. Figure 26 The first pivot orientation shown rotates about the neck pivot axis 2640. For example, relative to... Figure 26 The first pivot orientation shown is achieved by moving the sliding tilt member 2630 upward along the track member 2624 to the indicated orientation (in Figure 27 From the viewpoint of the user, the second arm portion 2620 is linearly translated away from the base support 2602 and toward the user 2650 to the position shown, and the second base portion 2614 is linearly translated upward (e.g., away from the ground) to the position shown, thereby moving the display unit 2606 to the second pivot orientation. The tilt axis 2626 is independent of the neck pivot axis 2640, because the rotation of the display unit 2606 about the neck pivot axis 2640 uses rotation about the tilt axis 2626 and linear movement (translation) with degrees of freedom 2622 and 2616.

[0178] In some implementations... Figure 27 The viewing angle shown is upward of the display unit 2606 (e.g., as shown in the image). Figure 27 The rotation limit is shown as counterclockwise. In other embodiments, the display unit 2606 can rotate upwards (e.g., counterclockwise) before reaching the rotation limit in that direction. Figure 27 The larger quantity shown.

[0179] exist Figure 28In this configuration, display unit 2606 is oriented in a third pivot orientation about a defined neck pivot axis 2640 to allow the user 2650 a "downward" viewing angle. Angle A2 is an example angle of rotation of display unit 2606 about the neck pivot axis 2640, where angle A2 is the angle between the horizontal view orientation 2642 and the neck axis view orientation 2842 of display unit 2606. Display unit 2606 has been rotated about the neck pivot axis 2640 by moving the base support 2602, arm support 2604, and sliding member 2630 to the positions and / or orientations shown. For example, relative to... Figure 26 The first pivot orientation shown is achieved by moving the sliding member 2630 downward to the orientation shown (in...). Figure 28 In the viewpoint, the second arm portion 2620 is linearly translated with degree of freedom 2622 toward the user 2650 and away from the base support 2602 to the position shown, and the second base portion 2614 is linearly translated downward (e.g. toward the ground) to the position shown, thereby moving the display unit 2606 to the third pivot orientation.

[0180] exist Figure 29 In this configuration, display unit 2606 is oriented in a fourth pivot orientation about a defined neck pivot axis 2640 to allow the user 2650 a further downward viewing angle. Angle A3 is an example angle of rotation of display unit 2606 about neck pivot axis 2640, where angle A3 is the angle between the horizontal view orientation 2642 and the neck axis view orientation 2942 of display unit 2606. Display unit 2606 has been rotated about neck pivot axis 2640 by moving base support 2602, arm support 2604 and sliding member 2630 to the positions and / or orientations shown. For example, relative to Figure 28 The third pivot orientation shown is achieved by further moving the sliding member 2630 downward to the orientation shown (in...). Figure 29 In the viewpoint, the second arm portion 2620 is linearly translated with degree of freedom 2622 toward the user 2650 and away from the base support 2602 to the position shown, and the second base portion 2614 is linearly translated downward (e.g. toward the ground) to the position shown, thereby moving the display unit 2606 to the fourth pivot orientation.

[0181] exist Figures 26-29 In the example embodiment shown, the distance between the defined neck pivot axis 2640 and the tilt axis 2626 is fixed during the rotation of the display unit around the defined neck pivot axis 2640.

[0182] Figure 30 and Figure 31It is based on some implementation methods Figure 26 A side view of a portion of the display system 2600, showing the rotation of the display unit about a defined eye pivot axis. The display system 2600 includes components similar to those of the display system 2300 described above.

[0183] exist Figure 30 In this configuration, display unit 2606 is oriented in a fifth pivot orientation about a defined eye pivot axis 2660 to allow the user 2650 an upward viewing angle. Angle A4 is an example angle of rotation of display unit 2606 about eye pivot axis 2660, where angle A4 is the horizontal eye axis view orientation 2662 of display unit 2606 (e.g., ...). Figure 26 The angle between the display unit 2606 and the eye axis view orientation 3062 (as shown). The display unit 2606 has been positioned and / or oriented as shown by moving the base support 2602, arm support 2604, and sliding member 2630 relative to the position shown. Figure 26 The first pivot orientation shown rotates about the eye pivot axis 2660. For example, relative to... Figure 26 The first pivot orientation shown is achieved by moving the sliding member 2630 upward to the angle shown (in... Figure 30 From the viewpoint, the second arm 2620 is linearly translated towards the base support 2602 and away from the user 2650 to the position shown, and the second base portion 2614 is linearly translated downwards (e.g., towards the ground) to the position shown (in this example, the movement is very small), thereby moving the display unit 2606 to the fifth pivot orientation. The tilt axis 2626 is independent of the eye pivot axis 2660, because the rotation of the display unit 2606 about the eye pivot axis 2660 can be achieved using rotation about the tilt axis 2626 as well as linear movement (translation) with degrees of freedom 2622 and 2616.

[0184] exist Figure 31 In this configuration, display unit 2606 is oriented in a sixth pivot orientation about a defined eye pivot axis 2660 to allow the user 2650 a downward viewing angle. Angle A5 is an example angle of rotation of display unit 2606 about eye pivot axis 2660, where angle A5 is the angle between the horizontal eye axis view orientation 2662 and the eye axis view orientation 3162 of display unit 2606. Display unit 2606 has been rotated about eye pivot axis 2660 by moving base support 2602, arm support 2604 and sliding member 2630 to the positions and / or orientations shown. For example, relative to... Figure 26 The first pivot orientation shown is achieved by moving the sliding member 2630 downward to the orientation shown (in...). Figure 31From the viewpoint of the user, the second arm 2620 is linearly translated away from the base support 2602 and toward the user 2650 in a clockwise direction around axis 2626, and the second base portion 2614 is linearly translated upward (e.g., away from the ground) to the position shown, thereby moving the display unit 2606 to the sixth pivot orientation.

[0185] exist Figure 30 and Figure 31 In this example embodiment, the eye pivot axis 2660 is positioned close to the tilt axis 2626. Therefore, rotation about the eye pivot axis 2660 is primarily provided by rotation about the tilt axis 2626, and substantial movement of the second arm portion 2620 and the second base portion 2614 is not required. 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.

[0186] Display systems 2600 (and 2300) can provide movement of the display unit around the user's neck pivot axis and / or eye pivot axis, similar to the above. Figure 8-14 The movement is illustrated for display systems 300, 600, and 700 described above. In some embodiments with regard to a particularly defined pivot axis, display systems 2600 (and 2300) can provide movement in which the required range of motion and / or movement of the moving portions of the arm support 2604 and the base support 2602 is generally less than that required by display systems 300, 600, and / or 700. In these examples, this is because the tilt axis 2626 of the display unit 2606 is 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 which is closer to the defined neck pivot axis or the defined eye pivot axis.

[0187] Figure 32 This is a perspective view of another embodiment 3200 of the display system, and Figure 33 This is a front view of a portion 3201 of a display system 3200 according to some embodiments. Figure 34 This is a side view of a portion 3201 of a display system 3200 according to some embodiments. Figure 35 This is a top view of a portion 3201 of a display system 3200 according to some embodiments, and Figure 36 This 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 as for... Figure 1In the user control system 102 of the remote operating system described elsewhere in this document, or may be used in other systems or as a stand-alone system as described above. Unless otherwise stated, the features of display system 3200 may be similar to those described above. Figure 3 Those features of display system 300 and / or display system 2300.

[0188] 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 via a support linkage device, 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 proximal portions of the base support 3202 and the arm support 3204 (coupled to the base support 3202) may be as described above. Figure 3-7 It is implemented in a similar manner to that described in 23-25.

[0189] In some examples, the base support 3202 is a mechanically grounded vertical member, and... Figure 3-7 Similar to the embodiments in 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 may be linearly coupled (e.g., retractably coupled) and allow the second base portion 3214 to translate linearly relative to the first base portion 3212 with a linear degree of freedom 3216, wherein such translation may be driven by one or more actuators (e.g., motors), for example, as referenced above. Figure 15 and 16 Similar to the description. Other implementations can be used as described above. Figure 3-7 A different configuration similar to that described in the implementations of 23-25.

[0190] Arm support 3204 is a horizontal member mechanically coupled to base support 3202. Arm support 3204 may include a first arm portion 3218 and a second arm portion 3220. The first arm portion 3218 is the proximal portion of arm support 3204, rigidly coupled to a second base portion 3214 of base support 3202, and the second arm portion 3220 is the distal portion of arm support 3204, linearly coupled to the first arm portion 3218, such that the second arm portion 3220 can be linearly translated relative 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 is telescopically coupled to the first arm portion 3218; for example, portion 3218 or 3220 is... Figure 2-7 A similar retractable portion as described in embodiments 23-25. Figures 32-36 In the example, the proximal portion 3224 of the second arm portion 3220 can be linearly translated 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 related to... Figure 17 and 18 The following description is provided. Other implementations can be used in conjunction with those described above. Figure 3-7 A different configuration similar to that described in embodiments 23-25. In some embodiments, the first arm portion 3218 and the second base portion 3214 may be considered as 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 that described above.

[0191] In some examples shown, the arm support 3204 extends along a horizontal axis orthogonal to the vertical axis, and the base support 3202 extends along the vertical axis. 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 their 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 may extend at various heights and / or configurations, such as 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 vibration in the supports and components of the display system 3200, in conjunction with those for... Figures 3-5 Similar to what is described.

[0192] 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 members 3228 extend from the proximal portion 3224 in generally opposite directions and then in a direction parallel to the proximal portion 3224, forming a generally U-shape as shown. In other embodiments, the yoke members may extend in various directions (e.g., in an approximately V-shape or other shapes).

[0193] The display unit 3206 includes components that can be used with... Figure 3-7 and / or Figures 23-25Similar display devices are described in the embodiments described above. Display unit 3206 is rotatably coupled to arm support 3204. In these embodiments, display unit 3206 is positioned between and rotatably coupled to the distal ends of yoke members 3228. In this example, display unit 3206 is coupled to crossbeam 3244, which is rotatably coupled to yoke member 3228. For example, axis 3229a of crossbeam 3244 is rotatably coupled to yoke member 3228a, and axis 3229b of crossbeam 3244 is rotatably coupled to yoke member 3228b. When crossbeam 3244 rotates, display unit 3206 rotates with crossbeam. In some embodiments, for example, if no yaw motion is performed on display unit 3206, axis 3229 can be rigidly coupled to display unit 3206 without using crossbeam 3244.

[0194] Display unit 3206 is rotatable with rotational (tilting) degree of freedom 3232 relative to arm support 3204 and base support 3202 about tilt axis 3230. Tilt axis 3230 extends through the distal end of yoke member 3228 and may, for example, be aligned with or parallel to the lengths of axes 3229a and 3229b. In some embodiments, tilt axis 3230 is oriented orthogonally to the plane defined by linear degrees of freedom 3216 and 3222 provided to display unit 3206 by base support 3202 and arm support 3204. For example, tilt degree of freedom 3232 may be provided in a vertical plane that is the same as or parallel to the vertical plane providing degrees of freedom 3216 and 3222 by base support 3202 and arm support 3204. In some embodiments, base support 3202 and arm support 3204 may be considered as a support linkage having display unit 3206 coupled to the distal end of the support linkage.

[0195] The display unit 3206 can move with 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.

[0196] Display unit 3206 can rotate about a defined pivot axis based on translation provided by the first arm portion 3214 and the second arm portion 3220, and through rotation about the tilt axis 3230 allowed by the rotational coupling of display unit 3206 to yoke portion 3226. Rotation about the defined pivot axis can be similar to that described above for... Figure 3-7 The rotation described in embodiments 23-25, and regarding Figure 39 Further description.

[0197] The rotational movement of the display unit 3206 about the tilt axis 3230 can be driven by one or more actuators (e.g., motors). In some embodiments, the rotary motor 3236 (in...) Figure 33 , 35 The motor 3236 (shown in dashed lines in section 36) can be rigidly coupled to one of the yoke members 3228 (or a corresponding motor coupled to each yoke member 3228), and the rotation axis of the motor 3236 can be coupled to the crossbeam 3244 (e.g., one of the shafts 3229), which 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 combination thereof. Figure 22 The winch mechanism shown is similar to other winch mechanisms. In the example winch mechanism, the winch drum is coupled to the driven shaft 3229 (or elsewhere on the beam 3244), and the winch pulley is coupled to the shaft of the motor 3236, with one or more cables coupled between the drum and the pulley. The motor 3236 can be controlled by control signals from control circuitry (e.g., a control system) to move the beam 3244 and the display unit 3206 about the tilt axis 3230 with a tilting degree of freedom 3232 to a specific orientation.

[0198] 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 could be a lateral or left-right rotation from the viewpoint of a user viewing an image of the display unit 3206, for example, via a viewport. Figures 32-36 In the example, display unit 3206 is coupled to yoke portion 3226 via a rotation mechanism, which may be a track mechanism. In some embodiments, the track mechanism may be similar to the track mechanism described above in the embodiment providing yaw axis movement. For example, the track mechanism may include a beam 3244 and an arcuate track support including an arcuate track 3246. The arcuate track 3246 slidably engages recessed member 3248, for example, with the one described above for... Figure 3 and 22 The operation is similarly described. Display unit 3206 moves along an arc-shaped path constrained by arc-shaped track 3246, thereby causing display unit 3206 to rotate about yaw axis 3240 with rotational degree of freedom 3242. The following is about... Figure 37 and Figure 38Additional examples are described. For instance, the curved track 3246 may be rigidly coupled to the crossbeam 3244 (which is rigidly coupled to the yoke portion 3226 relative to the yaw degree of freedom), and the recessed member 3248 may be rigidly coupled to the display unit 3206. Alternatively, the recessed member may be rigidly coupled to the crossbeam 3244, and the curved track may be rigidly coupled to the display unit 3206. In some embodiments, additional recessed members may be provided along the length of the curved track 3246.

[0199] In some implementations, different mechanisms can be used to provide rotation of the display unit 3206 about the yaw axis 3240. In some examples, the arcuate track 3246 may be an arcuate cam follower engaging with a cam roller, as described above for... Figures 3-5 Similar to the yaw movement implementation described in 23-25.

[0200] The curvature (e.g., radius) of the curved track 3246 and / or the groove member 3248 is selected to provide a 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 may be provided at a horizontal distance from the display unit 3206 (parallel to the horizontal degree of freedom 3222) such that it substantially intersects a defined (virtual or software-defined) neck pivot axis corresponding to the pivot axis in the user's neck, as described below. In some embodiments, the defined neck pivot axis may 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) varies based on the orientation of the display unit 3206 about the tilt axis 3230.

[0201] 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 force on the display unit 3206 about the yaw axis 3240 using a drive transmission (e.g., winch drive mechanism, gear mechanism, etc.). In some examples, the drive transmission can include, for example, the one referenced above. Figure 22The described winch drive mechanism is similar to other winch drive mechanisms. For example, the driven shaft of the motor may be coupled to a winch pulley, and cables may be attached to both ends of a winch drum rigidly coupled to an arcuate track 3246, with the cables wound around the winch pulley (or two cables may be attached between the respective ends of the winch pulley and the winch drum). The motor rotates the winch pulley to move (e.g., winding and unwinding (one or more) cables on the pulley), thereby causing the winch drum, arcuate track 3246, and display unit 3206 to rotate about a yaw axis 3240. In some embodiments, the motor and / or drive transmission may be at least partially located within the housing of the display unit 3206. For example, the winch drum may be positioned on the side of the track member 3244 or crossbeam 3244 opposite to the user position, and the winch pulley may be positioned away from the user position near the winch drum. In some embodiments, other transmission devices and / or coupling elements may be used to provide rotational movement of the display unit 3206 relative to the track member 3244 and the arm support member 3204 about the yaw axis 3240.

[0202] The display system 3200 therefore provides the display unit 3206 with a vertical linearity degree of freedom 3216, a horizontal linearity degree of freedom 3222, a rotational tilt degree of freedom 3232, and a rotational yaw degree of freedom 3242. For example, the vertical and horizontal degrees of freedom allow the display unit 3206 to move to any position within its range of motion or permitted workspace (e.g., within a vertical plane), and the tilt degree of freedom allows the display unit to move to a specific orientation within its range of motion (e.g., within a vertical plane or a parallel vertical plane).

[0203] The components of the display system 3200, through a combination of coordinated movement of at least two of these degrees of freedom, allow the display unit 3206 to be positioned at various locations and orientations within its workspace, such as translating or rotating around the user, to facilitate a customized viewing experience for the user, in conjunction with the above-mentioned... Figure 3-7 Similar to the embodiments described in and / or 23-25. Furthermore, 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 about a defined pivot axis, which can be positioned at any of a variety of locations within the workspace of the display unit 2306, similar to those described above, such as an eye pivot axis, a forehead pivot axis, a neck pivot axis, etc.

[0204] Display unit 3206 may include input devices to allow a user to provide input to manipulate the orientation and / or position of display unit 3206 in space, and / or manipulate other functions or components of display system 3200 and / or larger system (e.g., remote operating system). Regarding Figures 3-5Examples of input devices (e.g., hand input device 340 and head input device 342) are described, and such input devices can be used in display system 3200, for example, provided in a similar manner on the side and / or forward-facing surface of display unit 3206. User input provided from such input devices can be used in conjunction with the above-referenced... Figure 3-14 The description similarly controls the movement of the display unit 3206 and / or the displayed images and other components.

[0205] In some embodiments of the display system, the display unit 3206 may rotate about a yaw axis 3240 with a degree of freedom 3242, and one or more of other degrees of freedom 3216, 3222, and / or 3232 are omitted from the display system 3200. For example, the display unit 3206 may rotate about the yaw axis 3240 (e.g., by one or more actuators and / or manually by the user), and the display unit 3206 may be manually positioned higher and / or lower (e.g., by one or more actuators and / or manually by the user) for example using a base support 3202 or other mechanism, where the horizontal degree of freedom 3222 and / or the tilting degree of freedom 3232 are omitted.

[0206] Figure 37 and Figure 38 yes Figure 32 A perspective view of portion 3201 of the display system 3200 shown. A perspective view of the bottom of the yoke portion 3226 and the display unit 3206 is shown.

[0207] exist Figure 37 In the diagram, display unit 3206 is shown in a centered yaw orientation about yaw axis 3240. For example, recessed member 3248 is rigidly coupled to display unit 3206 and centered along the arc length of track member 3246.

[0208] exist Figure 38 In the middle, the display unit 3206 is shown as being in a position relative to Figure 37The orientation about the yaw axis 3240 is altered. For example, the groove member 3248 has moved along the track member 3246, causing the display member 3206 to move to the left, or clockwise about the yaw axis 3240, if viewed from the bottom of the display unit 306. As shown, the track member 3246 may have an arcuate length that provides the display member 3206 with a limited range of rotation within the space between the yoke members 3228, allowing the display member 3206 to rotate about the yaw axis 3240 without impacting or contacting the yoke members 3228. For example, to achieve this limited range of rotational yaw, the arcuate track may extend through (or be provided as) the central portion of the beam 3244. In this example, the arcuate track does not extend outside the central portion, thus preventing the groove member 3248 from moving outside the central portion. In some embodiments, a stop may be positioned at the end of the track member 3246 to prevent the groove member 3248 from moving beyond the length of the track member 3246.

[0209] Figure 39 It is based on some implementation methods Figure 32 A side view of portion 3201 of the display system 3200, showing the rotation of the display unit used by the user. Figure 39 In this embodiment, the display unit 3206 is pivotally oriented about a defined neck pivot axis 3902, which may be generally horizontal and may extend generally parallel to the tilt axis 3230, for example, orthogonal to the plane defined by degrees of freedom 3216 and 3222. In an example embodiment, the neck pivot axis 3230 may be positioned to intersect with the head or neck of the user 3950 of the display unit 3206. For example, the neck pivot axis 3902 may be similar to the neck pivot axes 840 or 2640 described above. Movement of the base support 3202, arm support 3204, and display unit 3206 about the tilt axis 3230 can provide rotation about the neck pivot axis 3902. The neck pivot axis 3920 may be in a pivotal orientation about the tilt axis 3230. Figure 39 The different locations shown are defined by the movement of these components as they rotate about a desired neck pivot axis. These and other features (e.g., guiding the user to determine the defined neck pivot axis) can be similar to those regarding... Figure 8 Those characteristics described.

[0210] The view orientation of the display unit 3206 relative to the neck pivot axis 3902 is indicated by line 3904. Figure 39In the center, line 3904 extends through the neck pivot axis 3902 and, in this example, is oriented 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 portion 3214 of the base support 2602, portion 3220 of the arm support 2604, and the display unit 3206 to appropriate positions and / or orientations. This movement can, in principle, be similar to... 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 directions and magnitudes of movement may be different.

[0211] Figure 39 A defined eye pivot axis 3906 is also shown. The defined eye pivot axis 3906 is positioned corresponding to (e.g., coincidentally with) the eye axis, which intersects the eye of a typical user (such as user 3950 viewing through the viewport of display unit 3206 or at a display device when display unit 3206 is oriented in a central yaw rotation orientation about 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 degrees of freedom 3216 and 3222). When display unit 3206 is oriented in a central yaw rotation orientation about yaw axis 3240 as shown, the defined eye pivot axis may be orthogonal to the view orientation of display unit 3206. The view orientation of display unit 3206 relative to eye pivot axis 3906 is indicated by line of sight 3908. Figure 26 In this example, the line of sight 3908 extends through the eye pivot axis 3906 and is oriented 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 the movement of the display unit 3906 about the eye pivot axis 3906. Figure 12-14 The movements described in 30-31 and / or 30-31, but one or more directions and magnitudes of movement may differ 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., the forehead pivot axis or the hand input device axis) may be implemented similarly to movement about the neck and / or eye pivot axes.

[0212] The display system 3200 can position the tilt axis 3230 at a position greater than in other embodiments (e.g., such as...). Figure 3-7In embodiments of display systems 300, 600, and 700, the display system 3200 is closer to certain defined pivot axes. In some embodiments using particularly defined pivot axes, display system 3200 can provide movement of display unit 3206 where the required range of motion and / or movement of the moving portions of arm support 3204 and base support 3202 is generally less than that required by display systems 300, 600, and / or 700. In these examples, this is because the tilt axis 3230 of display unit 3206 is closer to the neck pivot axis 3240 and eye pivot axis 3260, thereby allowing 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.

[0213] Figure 40 This is a perspective view of an example device portion 4000 of a control input device that may be used in one or more embodiments described herein. In some embodiments, device portion 4000 may be used as referenced above. Figure 1 and 2 The control input device 210 or 212 described herein is a part that can be used with any of the various display system embodiments described herein. In some embodiments, the device portion 4000 includes one or more universal joint mechanisms.

[0214] In some embodiments, device portion 4000 may be a mechanically grounded controller. For example, device portion 4000 may 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 the use of device portion 4000.

[0215] Device portion 4000 includes a handle 4002, which is contacted by a user to manipulate a control input device. In this example, the handle 4002 includes two grips, each grip including a finger ring 4004 and grip members 4006 (grip members 4006a and 4006b). The two grip members 4006 are positioned on opposite sides of the central portion 4003 of the handle 4002, wherein the 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 may be attached to or formed at the unattached ends of grip members 4006a and 4006b to provide a surface for contacting the user's fingers.

[0216] 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 both 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 about grip axes 4007a and 4007b, respectively. Each grip member 4006a and 4006b can move, for example, by user contact with the grip members with associated degrees of freedom 4008a about axis 4007a and 4008b, respectively. For example, in some embodiments, grip members 4006a and 4006b can move simultaneously in a clamping motion (e.g., toward or away from each other). In various embodiments, a single grip member 4006 and a finger ring 4004 may be provided, or only one of the grip members 4006 may be movable in degree of freedom 4008, while the other grip member 4006 may be fixed relative to the handle 4002. For example, the orientation of grip members 4006a and 4006b in their degrees of freedom may control the corresponding rotational orientation of an end effector or other manipulator. 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 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 force on the grip member 4006 in degree of freedom 4008, or passive actuators (e.g., brakes) or springs that provide resistance in the grip direction between the grip member 4006 and the central portion 4003 of the handle 4002.

[0217] The handle 4002 is also provided with a rotational degree of freedom 4010 about a rolling axis 4012 defined between a first end and a second end of the handle 4002. In this example, the rolling axis 4012 is a longitudinal axis extending approximately along the center of the central portion 4003 of the handle 4002. For example, a user can rotate the grip member 4006 and the central portion 4003 as a single unit relative to the base of the controller portion 300 (such as the housing 4009) about the axis 4012 to provide control over the actuator system components. One or more control input sensors (not shown) may be coupled to the handle 4002 to detect the orientation of the handle 4002 in the rotational degree of freedom 4010. Some embodiments may provide one or more actuators that output force on the handle 4002 in the rotational degree of freedom 4010.

[0218] The provided sensors can send signals describing the sensed position, orientation, and / or motion to one or more control circuits (e.g., the control system of remote operating system 100). In some modes or implementations, the control circuits can provide control signals to a manipulator system (e.g., manipulator system 104) to, for example, control any of the various degrees of freedom of the end effector or other apparatus of manipulator system 104.

[0219] In various embodiments, the handle 4002 may be provided with defined additional degrees of freedom. For example, a rotational degree of freedom 4020 about the controller yaw axis 4022 may be provided to the handle 4002 at a rotational coupling between the elbow link 4024 and the 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 about axis 4030 may be provided to the handle 4002 at the rotational coupling. In some examples, the device portion 4000 may allow the handle 4002 to move within the workspace of the user control system 102 with multiple degrees of freedom (e.g., six degrees of freedom including three rotational degrees of freedom and three translational degrees of freedom). One or more additional degrees of freedom may be sensed by a control input sensor and / or actuated by an actuator (motor, etc.), similar to those described above for degrees of freedom 4008 and 4010. In some embodiments, each additional degree of freedom of the handle 4002 may control a different manipulator degree of freedom (or other movement) of the end effector of the manipulator system 104.

[0220] In various embodiments, various kinematic chains, linkages, universal joint mechanisms, flexible structures, or combinations of two or more of these may be used with the device section 4000 to provide one or more degrees of freedom to the controller section. Further examples of linkages and / or universal joint mechanisms that may be used with the device section 4000 are described in U.S. Patent No. 6,714,839B2, which is incorporated herein by reference.

[0221] In the described example, the handle 4002 includes one or more control switches 4050, for example, coupled to the central portion 4003. In some embodiments, the control switches 4050 can be moved to various positions to provide specific command signals, such as to select the function, option, or mode (e.g., control or non-control modes as described herein, or modes associated with display systems 300, 600, 700, 2300, or 3200) of a user control system and / or control input device. In some embodiments, the control switches 4050 can be implemented as buttons, rotary dials, switches, or other types of input controls. The control switches 4050 can use optical sensors, mechanical switches, magnetic sensors, or other types of sensors to detect the position of the switch. In some embodiments, the handle 4002 also includes a presence sensing system comprising one or more presence sensors capable of detecting the presence of a user's hand operating the handle and / or a hand positioned near the handle.

[0222] One or more display system features described herein can be used with other types of control input devices. For example, an ungrounded control input device can be used, which can move freely in space and is 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 a user's hand and ungrounded, allowing the user to move the grip freely in space. In some examples, the position or orientation of the grip relative to each other and / or other parts of the handle can be sensed by a mechanism that couples the grip together and constrains its movement relative to each other. Some embodiments can use a glove structure worn by the user's hand. Furthermore, some embodiments can use sensors coupled to other structures to sense the grip in space, such as a video camera or other sensors that can detect motion in 3D space. Examples of ungrounded control input devices are described in U.S. Patent Nos. 8,543,240B2 (filed September 21, 2010) and 8,521,331B2 (filed November 13, 2008), both of which are incorporated herein by reference in their entirety.

[0223] Figure 41 This is a flowchart 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 may be used, for example, with an example remote operating system or other control system, wherein the display system cooperates with a remotely operated manipulator system to provide a view of the display. For example, in some embodiments, a method may be used... Figure 3 Display system 300, Figure 6 Display system 600, Figure 7 Display system 700, Figure 23 Display system 2300 or Figure 32 The display system is 3200.

[0224] In some examples, the display system can be used for remote operating systems (such as...) Figure 1 In system 100), the 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 within 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 the controlled instrument or other components of the manipulator system, and / or can control other functions of the manipulator system. User inputs and controls associated with such remote operating system components are not described in method 4100.

[0225] Other embodiments of method 4100 can use a display system having one or more of the described features with other types of systems, such as non-remote operating systems, virtual environments implemented on processing devices that do not have physical manipulator systems and / or do not have physical objects that interact with physical manipulator systems. In some embodiments, the method can be performed partially or completely by control circuitry components (e.g., a control system). In some examples, the control circuitry may include one or more processors, such as microprocessors or other control circuitry, some examples of which are referenced below. Figure 42 Describe it.

[0226] In block 4102, a pivot axis is defined for a display unit of a display system, wherein the display unit provides an image for a user to view (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 the axis of rotation of a mechanical component of the display system (e.g., the tilt axis 326, 626, or 726 of a tilting member as described herein). In some embodiments, the defined pivot axis is a virtual axis based on a combination of coordinated movements of components of the display system and does not correspond to the axis of rotation of any particular mechanical component of the display system. For example, the virtual pivot axis may be a horizontal axis, such as an eye pivot axis, neck pivot axis, forehead pivot axis, or hand input device pivot axis as described herein in various embodiments.

[0227] 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 a user. For example, the defined pivot axis can be determined based on user input received by the display system, for example via a user input device (such as a keyboard, touchscreen, etc.) communicating with the display system. In some examples, the user input can specify one of a plurality of predetermined settings, each setting defining the pivot axis at a different specific location in the workspace of the display unit of the display system. For example, one setting can define a specific eye pivot axis, and different settings can define specific neck pivot axes. In other examples, the user input can adjust the position of the pivot axis. For example, the user input can specify moving the defined pivot axis a specific distance along any of the three dimensions in space. For example, the user input can instruct a predetermined eye pivot axis to move 5 mm vertically and 2 mm horizontally (e.g., toward a base support, such as base support 302).

[0228] 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 at a location operating the display system (e.g., viewing the display on the display unit). The display unit can be activated and enabled to be moved by user input in response to detecting the presence of a user. For example, the presence sensor can detect whether the user's head is positioned near a viewing port or window in the display unit. In some embodiments, the display unit can be used for a remote operating system (such as...). Figure 1 In system 100), 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.

[0229] In block 4106, user input is received to guide the display unit, for example, to rotate and / or translate vertically in a vertical plane. For example, the user input may be provided by a user input device of the display system (such as reference 4106). Figure 3User input is received from user input devices 340 and / or 342 on the described display unit. 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 systems including or cooperating with the display system (e.g., control input devices of a remote operating system). In one example, user input may instruct actuator outputs of the vertical base support, horizontal arm support, and tilting mechanism to exert forces that move the display unit about a defined pivot axis. In some embodiments, user input may instruct translation of the display unit within its workspace. In some embodiments, based on the indicated movement of the display unit, user input instructs manipulation of the image displayed by the display unit and / or manipulation of other controlled devices.

[0230] In block 4108, one or more actuators of the display system are controlled based on user input to rotate and / or translate the display unit in a vertical plane. For example, one or more actuators may be controlled to rotate the display unit in a vertical plane about a pivot axis defined in block 4102, as described herein. In some embodiments as described herein, the base support, arm support, and / or tilting member are moved simultaneously and in a coordinated manner by the actuators to cause the display unit to rotate about a defined pivot axis according to user input. In some embodiments, the display unit may be translated linearly in a vertical plane based on user input, for example, based on linear movement provided by the base support and / or arm support.

[0231] In some implementations, images or user interface controls displayed by the display unit are manipulated based on user input and / or movement of the display unit in a vertical plane. For example, the view of the displayed image can be moved based on user input and / or movement of the display unit. In other examples, user input can manipulate the displayed user interface, virtual environment, or other displayed views or elements provided by the display system. For example, user interface features such as cursors, scroll bars, lists, menus, selection of graphical elements, etc., can be moved or manipulated based on user input and / or movement of the display unit. In some examples, such a user interface can be overlaid on a captured view of the work area or displayed on one or more sides of the captured view.

[0232] In some implementations, the functions of the manipulator system can be manipulated based on user input and / or movement of the display unit. For example, actuators of the manipulator system can be controlled to move the image capture device (e.g., a camera) of the manipulator system in relation to movement of the display unit, such as 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 the display unit's display device. Actuators are 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 the movement of the manipulator image capture device controlled via the display unit, allowing the user to control the manipulator image capture device to change the field of view from the working position displayed on the display unit, while the user also controls the different manipulator instruments to perform tasks in a remote operation procedure at the manipulator working position viewed via the display unit.

[0233] In some examples, additional examples of remote operating system functions that can be manipulated by user input may include a switching function that causes control of a first manipulator arm or instrument to be switched to a second manipulator arm or instrument; energy output for manipulator instruments; irrigation or suction at the surgical site; a clutch function that selects between control and non-control modes; and so on.

[0234] In block 4110, yaw user input is received to guide the display unit to rotate about a yaw axis (lateral rotation axis) (e.g., left or right (lateral) rotation of the display unit about a vertical axis from the user's perspective). For example, yaw user input can be received from a similar user input device as described with respect to block 4106, and / or from a display system or another user input device in a different system than the user input device providing the user input for block 4106. In various embodiments, user input can instruct the display unit to rotate left about the yaw axis, translate the display unit linearly to the left, manipulate an image or user interface element displayed by the display unit, and / or manipulate other controlled devices.

[0235] In block 4112, one or more actuators of the display system are controlled based on user input to rotate the display unit about a yaw axis. For example, regarding Figures 3-5 , Figure 22 , Figures 23-25 or Figure 32-38The actuator of the described track mechanism can be used to rotate the display unit about yaw axes 330, 630, 730, 2332, or 3240. In one example, user input guiding rotation to the left (e.g., counterclockwise as viewed from above) causes the actuator output to move the display unit counterclockwise about the yaw axis. In some embodiments, the movement of the display unit manipulates the image or user interface and / or other controlled devices displayed by the display unit, similar to that described with respect to block 4108.

[0236] Blocks 4106 and 4110 can be executed simultaneously, in any order and / or partially or completely, such that user input, for example, rotating / translating the display unit in a vertical plane, can be received simultaneously with user input rotating the display unit about a yaw axis. Similarly, blocks 4108 and 4112 can be executed simultaneously, in any order and / or partially or completely, based on the received user input.

[0237] Blocks 4106 to 4112 are repeated based on additional received user input indicating that the display unit moves vertically and / or about the yaw axis. Other user input may be received, such as deactivating the display unit, causing block 4102 to be executed to change the position of the defined pivot axis, or performing other functions of the display system.

[0238] The blocks and operations described in the methods disclosed herein may be executed in a different order than those shown and / or, where appropriate, concurrently with other blocks and operations (partially or completely). Some blocks and operations may be executed for a portion of the data and then later, for example, for another portion of the data. Not all described blocks and operations need to be executed in all implementations. In some implementations, blocks and operations may be executed multiple times in the method, in different orders, and / or at different times.

[0239] Outputs such as haptic feedback on the display unit and / or visual output on the display device can be provided by the system to assist the user in operating the display system and / or the remote operating system. For example, the user interface can display warnings and / or error feedback on the display device, and / or can provide audio output to indicate such warnings or errors. Such feedback can indicate, for example, that the limits of the display unit's range of motion have been reached, or that moving the display unit causes a specific object being displayed to be moved out of the display unit's view, etc.

[0240] In various implementations, other types of computer-aided remote operating systems besides surgical systems can be used with one or more display system features described herein. Such remote operating systems can include various forms of controlled manipulator systems. For example, applications in submersibles, hazardous material or device handling units, industrial applications, 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 remote operating systems that include manipulators or slave systems for sensory transmission (conveying visual, auditory, etc. experiences), manipulating workpieces, or other physical tasks, and can use mechanically grounded and / or ungrounded control input devices to remotely control the manipulator system and display system to view the work site of the manipulator system. Any such remote operating system can be used with any of the various display system features described herein.

[0241] Figure 42 This is a block diagram of an example master-slave system 4200 that can be used with one or more implementations described herein.

[0242] As shown in the figure, system 4200 includes a master device 4202, which a user can manipulate to control a slave device 4204 that communicates with the master device 4202. In some embodiments, the master device 1002 may be any user control system described herein, or may be included in any user control system described herein. In some embodiments, the slave device 1004 may be... Figure 1 The manipulator system 104, or may be included in Figure 1 In the manipulator system 104. 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).

[0243] The master device 4202 generates control signals C1 to Cx that indicate the position and orientation, state, and / or changes of one or more controllers in their degrees of freedom. For example, the master device 4202 may generate control signals indicating the selection of input controls (e.g., physical buttons), the state of hand controllers, and other manipulations of hand controllers by the user. The control signals may be transmitted via a wired connection or wirelessly.

[0244] 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 multiple devices in these devices.

[0245] In the example system, the control system 4210 receives 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 from the slave device 4204 indicating the position and orientation, state, and / or changes of various slave components (e.g., manipulator arm elements). These actuation and / or sensor signals may be transmitted via wired connection or wirelessly.

[0246] 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 may execute program code and control the operation of the system 4200, including operations related to processing sensor data from the display unit and commands as described herein, such as modes and components. 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 random access memory (RAM), read-only memory (ROM), electrically erasable read-only memory (EEPROM), flash memory, etc. For example, the processor 4212 and memory 4214 implement control between the master control device 4202 and the slave device 4204.

[0247] The control system 4210 includes programmed instructions (a computer-readable medium storing the instructions) to implement appropriate operation and blocks of the methods according to the aspects disclosed herein. The system may include multiple data processing circuits, wherein a portion of the processing may optionally be executed on or near slave device 4204, another portion of the processing may be executed at master device 4202, and so on. Any of a wide variety of centralized or distributed data processing architectures may be employed. Similarly, the programming instructions may be implemented as multiple separate programs or subroutines, or they may 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.

[0248] Various other input and output devices may also be coupled to the control system 4210. 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 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 multiple pixels). The image may be generated by the control system or other systems (e.g., graphical elements and animations in a user interface that allows selection of commands for a remote operating system), and / or the image may be derived from data captured by an image capture device positioned at a 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 display units (e.g., display units 306, 606, 706, or 2306) in space as described herein. For example, command signals Fi to Fx may be generated based on user manipulation of user input devices (as described herein) and / or based on detected events or other conditions. In some implementations, the display system 4220 may enable or disable (e.g., follow or ignore) commands Fi to Fx based on the state of the remote operating system or control system 4210.

[0249] 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" can refer to a combination of hardware (e.g., a processor, such as an integrated circuit or other circuitry) and software (e.g., machine or processor-executable instructions, commands, or code, such as firmware, programming, or object code). The combination of hardware and software can include hardware only (i.e., hardware elements without software elements), hardware-hosted software (e.g., software stored in memory and executed or interpreted by or at a processor), or a combination of hardware and hardware-hosted software. In some embodiments, modules 4240, 4250, and 4260 may be implemented using processor 4212 and memory 4214, for example, program instructions stored in memory 4214 and / or other memories or storage devices connected to the control system 4210.

[0250] The mode control module 4240 can detect when a user initiates the system's control mode or non-control mode, for example, through user selection of controls, sensing the presence of a user using the main controller, or sensing the desired operation of the main controller. 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 C1 to Cx. For example, if the user detection module detects that the user is in an appropriate position using one or more control input devices and a signal (e.g., one or more signals C1 to Cx) indicates that the user has touched one or more control input devices, the mode control module 4240 can activate control mode operation. If no user touch is detected on one or more control input devices and / or if the user is not in an appropriate position using one or more control input devices, 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 actuation signals A1 to An for movement of the slave device 4204.

[0251] 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 C1 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, for example, such that the movement of the slave device 4204 corresponds to a 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 forces on the master device 4202. For example, one or more control signals D1 to Dx output to one or more actuators(s) for applying force to components can be used to output 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 forces can provide haptic feedback, gravity compensation, etc.

[0252] In some implementations, the non-control mode module 4260 can be used in a non-control mode of the system 4200. In 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 may allow the actuator system in the slave device 4204 to idle or may generate actuation signals A1 to An, for example, to allow the motor in the manipulator arm to resist gravity and support the intended weight of the arm, wherein the brake in the arm is not engaged and manual movement of the arm is permitted.

[0253] In some implementations, a non-control mode may include one or more other operating modes of the control system 4210. For example, a non-control mode may be a selection mode in which the movement of a control input device in one or more of its degrees of freedom and / or the selection of controls on the control input device can control the selection of display options in a graphical user interface, such as that displayed by display system 4220 and / or other display devices. A viewing mode may allow movement of the control input device to control a display provided from an imaging device (e.g., a camera) or movement of an imaging device that may not be included in slave device 4204. Control signals C1 to Cx may be used by the non-control mode module 4260 to control such elements (e.g., cursor, view, etc.), and control signals D1 to Dx may be determined by the non-control mode module to induce an output of force on (one or more) control input devices during such a non-control mode, for example, to indicate to the user an interaction or event that occurs during such a mode.

[0254] The implementations described herein can be implemented, at least in part, by computer program instructions or code that can be executed on a computer. For example, the code can be implemented by one or more digital processors (e.g., microprocessors or other processing circuitry). Instructions can be stored on a computer program product including a non-transitory computer-readable medium (e.g., a storage medium), wherein the computer-readable medium can include magnetic, optical, electromagnetic, or semiconductor storage media, including semiconductor or solid-state memory, magnetic tape, removable computer disks, random access memory (RAM), read-only memory (ROM), flash memory, rigid disks, optical disks, memory cards, solid-state memory drives, etc. The medium can be or is included in a server or other device connected to a network (such as the Internet) that provides downloads of data and executable instructions. Alternatively, implementations can be in hardware (logic gates, etc.) or in a combination of hardware and software. Example hardware can be a programmable processor (e.g., a field-programmable gate array (FPGA), a complex programmable logic device), a general-purpose processor, a graphics processor, an application-specific integrated circuit (ASIC), etc.

[0255] Note that the functional blocks, operations, features, methods, apparatuses, and systems described in this disclosure may be integrated or divided into different combinations of systems, apparatuses, and functional blocks known to those skilled in the art.

[0256] Although this embodiment has been described with reference to the examples shown, those skilled in the art will readily recognize that changes to the embodiment may be made, and that such changes will be within the scope of this disclosure. Therefore, many modifications can be made by those skilled in the art without departing from the scope of the appended claims.

Claims

1. A control unit, comprising: First support component; A second support member coupled to the first support member, wherein the second support member is linearly translatable relative to the first support member along a first axis with a first degree of freedom, and at least a portion of the second support member is linearly translatable relative to the first support member along a second axis with a second degree of freedom. as well as A display unit is rotatably coupled to the second support member, and the display unit is rotatable about a third axis with a third degree of freedom relative to the second support member, wherein the display unit includes a display device.

2. The control unit of claim 1, wherein the first axis is orthogonal to the second axis, and wherein the third axis is orthogonal to both the first axis and the second axis.

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

4. The control unit according to claim 1, wherein: The first support member includes a first retractable base portion and a second retractable base portion. The second retractable base portion can be linearly translated relative to the first retractable base portion along the first axis. The second support member includes a first telescopic arm portion and a second telescopic arm portion. The second telescopic arm portion can be linearly translated relative to the first telescopic arm portion along the second axis, and The second retractable base portion of the first support member is rigidly coupled to the first retractable arm portion of the second support member.

5. The control unit according to claim 1, wherein: The second support member is coupled to the first support member via an intermediate support member. The intermediate support includes a horizontal portion rigidly coupled to the vertical portion, the horizontal portion and the vertical portion being orthogonal to each other. The second support member can translate horizontally relative to the intermediate support member with the second degree of freedom, and The intermediate support and the second support can be vertically translated relative to the first support with the first degree of freedom.

6. The control unit according to claim 1, wherein: The display unit includes an inclined member rotatably coupled to the end of the second support member. The tilting member can rotate about the third axis with the third degree of freedom, and the third axis is orthogonal to the first axis and the second axis.

7. The control unit according to claim 6, wherein: The display unit can rotate about a fourth axis with a fourth degree of freedom relative to the tilting member, and The fourth axis is orthogonal to the third axis.

8. The control unit of claim 7 further includes an actuator configured to output a force about the fourth axis on the display unit with the fourth degree of freedom.

9. The control unit according to claim 1, wherein: The second support member includes at least a yoke portion, the yoke portion comprising two yoke members, and The display unit is rotatably coupled to the two yoke components and positioned between the two yoke components.

10. The control unit according to any one of claims 1-9, further comprising a first actuator, a second actuator, and a third 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, and the third actuator is configured to output a third force on the display unit with the third degree of freedom.

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