Input device handle for robotic surgical systems capable of large rotations about a roll axis

Abstract

An input device handle for controlling a robotic system includes a body and a cylinder. The body defines an opening that rotatably receives the cylinder. The cylinder defines a roll axis such that rotation of the cylinder relative to the body about the roll axis is configured to rotate a tool of a robot about a first axis defined by the tool.

1 . (canceled) 
     
     
         2 . A robotic system comprising:
 a robot including an arm and a tool supported at the end of the arm, the tool defining a first axis; and   a user interface in operable communication with the robot to control the tool, the user interface including a control arm, a gimbal supported by the control arm and having an input shaft, and an input device handle coupled to the input shaft, the input shaft defining a roll axis, the input device handle including:
 a body defining an opening; and 
 a cylinder rotatably disposed within the opening and rotatable about the roll axis, wherein rotation of the cylinder relative to the body about the roll axis rotates the tool about the first axis. 
   
     
     
         3 . The robotic system according to  claim 2 , wherein the rotation of the cylinder about the roll axis rotates the tool about the first axis. 
     
     
         4 . The robotic system according to  claim 2 , wherein rotation of the body about the roll axis rotates the tool about the first axis. 
     
     
         5 . The robotic system according to  claim 2 , wherein the robot includes a shaft supports the tool and defines a second axis. 
     
     
         6 . The robotic system according to  claim 5 , wherein rotation of the body about the roll axis rotates the shaft about the second axis. 
     
     
         7 . The robotic system according to  claim 2 , wherein the gimbal includes a first sensor to detect rotation of the input shaft relative to the gimbal. 
     
     
         8 . The robotic system according to  claim 7 , wherein the first sensor is disposed within the input shaft. 
     
     
         9 . The robotic system according to  claim 7 , wherein the input device handle includes a second sensor to detect rotation of the cylinder relative to the body. 
     
     
         10 . The robotic system according to  claim 2 , wherein the tool of the robot is physically remote and disconnected from the input device handle, and wherein the roll axis of the cylinder is separated from the longitudinal axis of the tool of the robot. 
     
     
         11 . The robotic system according to  claim 10 , wherein rotation of the cylinder about the roll axis is configured to rotate a shaft pivotally supporting the tool about a second axis defined by the shaft. 
     
     
         12 . A method of manipulating a tool of a robot using an input device handle of a user interface, the method comprising:
 rotating a cylinder of the input device handle relative to a body of the input device handle about a roll axis defined by an input shaft of the user interface to rotate a tool of the robot about a first axis defined by the tool.   
     
     
         13 . The method according to  claim 12 , further comprising rotating the body about the roll axis to rotate the tool about the first axis. 
     
     
         14 . The method according to  claim 12 , further comprising rotating the body about the roll axis to rotate a shaft that supports the tool about a second axis defined by the shaft. 
     
     
         15 . The method according to  claim 13 , further comprising articulating the tool relative to the shaft before rotating the cylinder. 
     
     
         16 . An input device handle for controlling a tool of a robot that is physically remote and disconnected from the input device handle, the input device handle comprising:
 a body defining a body axis; and   a cylinder rotatably disposed within the body, the cylinder defining a roll axis which is coincident with the body axis, wherein:
 rotation of the cylinder about the roll axis is configured to rotate the tool about a first axis defined by a longitudinal axis of the tool, wherein the roll axis of the cylinder is separated from the longitudinal axis of the tool of the robot; and 
 rotation of the body about the body axis is configured to rotate a shaft, pivotally supporting the tool, about a second axis defined by the shaft. 
   
     
     
         17 . The input device handle according to  claim 16 , wherein the cylinder frictionally engages the body such that as the body is rotated about the roll axis, the cylinder is rotated about the roll axis. 
     
     
         18 . The input device handle according to  claim 16 , wherein the body includes a connection portion that defines an opening for rotatable receipt of the cylinder, the connection portion configured to couple to an input shaft of a gimbal of a user interface. 
     
     
         19 . The input device handle according to  claim 16 , further comprising an actuation control pivotally coupled to the body and configured to actuate jaws of the tool. 
     
     
         20 . The input device handle according to  claim 16 , wherein the body includes a button configured to control a function of the tool. 
     
     
         21 . The input device handle according to  claim 16 , wherein the rotation of the cylinder about the roll axis is scaled to rotation of the tool about the first axis.