Input device assemblies for robotic surgical systems

Abstract

Methods and devices for controlling a robotic system include receiving a signal in response to movement of an input device through an input distance, determining the position of a repositioning control disposed on the input device, and moving the tool of the robotic system in response to movement of the input device the input distance. The input device is coupled to an input shaft of an input arm. The robotic system moving the tool a first distance when the repositioning control is in a deactivated position and moves the tool a second distance when the repositioning control in an activated position. The first distance is greater than the second distance.

1 . (canceled) 
     
     
         2 . A method of controlling a tool of a robotic system, the method comprising:
 receiving a signal representative of a movement distance of an input device coupled to an input shaft of an input arm;   determining a position of a repositioning control of the input device, wherein the repositioning control is supported on a body of the input device;   in response to determining that the position of the reposition control of the input control is in a first position, moving the tool of the robotic system based on the movement distance of the input device and based on an operating scaling factor;   in response to determining that the position of the repositioning control of the input device is in a second position different from the first position, entering a clutching mode to decouple the tool of the robotic system from the input device; and   in response to determining that the position of the repositioning control of the input device is in a third position different from the first and second positions, leaving the clutching mode.   
     
     
         3 . The method according to  claim 2 , wherein the repositioning control includes a ring disposed about the body of the input device, and wherein the method includes determining the position of the ring. 
     
     
         4 . The method according to  claim 3 , further comprising determining that the ring is in the first position when the ring is rotated in a first direction from the second position along a longitudinal axis of the body of the input device. 
     
     
         5 . The method according to  claim 4 , wherein the second position is a neutral position. 
     
     
         6 . The method according to  claim 3 , further comprising determining that the ring is in the third position when the ring is rotated in a second direction from the second position about a longitudinal axis of the body of the input device. 
     
     
         7 . The method according to  claim 2 , further comprising moving the tool by a scaled movement, which scaled movement is calculated by dividing the movement distance by the operating scaling factor. 
     
     
         8 . The method according to  claim 2 , wherein leaving the clutching mode includes recoupling the input device to the tool. 
     
     
         9 . The method according to  claim 8 , wherein leaving the clutching mode further includes moving the tool of the robotic system based on the movement distance of the input device and a repositioning scaling factor. 
     
     
         10 . The method according to  claim 9 , wherein, when the determined position is the third position, the tool is moved by a scaled movement, which is calculated by dividing the movement distance by the repositioning scaling factor. 
     
     
         11 . The method according to  claim 2 , wherein, when the tool is in the clutching mode, the tool does not move when the input device moves. 
     
     
         12 . A robotic surgical system, comprising:
 a processing unit;   a user interface configured to communicate with a robotic tool and including:
 an input arm having an input shaft; and 
 an input device coupled to the input shaft and including a repositioning control supported on a body of the input device, 
   wherein the processing unit is configured to:
 receive a signal representative of a movement distance of the input device; 
 determine a position of the repositioning control; 
 in response to determining that the position of the reposition control of the input control is in a first position, move the robotic tool based on the movement distance of the input device and an operating scaling factor; 
 in response to determining that the position of the repositioning control of the input device is in a second position different from the first position, enter a clutching mode to decouple the robotic tool from the input device; and 
 in response to determining that the position of the repositioning control of the input device is in a third position different from the first and second positions, leave the clutching mode. 
   
     
     
         13 . The robotic surgical system according to  claim 12 , wherein the repositioning control includes a ring disposed about the body of the input device. 
     
     
         14 . The robotic surgical system according to  claim 13 , wherein the processing unit is further configured to determine that the ring is in the first position when the ring is rotated in a first direction from the second position along a longitudinal axis of the body of the input device. 
     
     
         15 . The robotic surgical system according to  claim 14 , wherein the second position is a neutral position. 
     
     
         16 . The robotic surgical system according to  claim 14 , wherein the processing unit is further configured to determine that the ring is in the third position when the ring is rotated in a second direction from the second position about the longitudinal axis of the body of the input device. 
     
     
         17 . The robotic surgical system according to  claim 12 , wherein the robotic tool is moved by a scaled movement, which is calculated by dividing the movement distance by the operating scaling factor. 
     
     
         18 . The robotic surgical system according to  claim 12 , wherein, when leaving the clutching mode, the processing unit is further configured to recouple the input device to the robotic tool. 
     
     
         19 . The robotic surgical system according to  claim 18 , wherein, when leaving the clutching mode, the processing unit is further configured to move the robotic tool based on the movement distance of the input device and a repositioning scaling factor. 
     
     
         20 . The robotic surgical system according to  claim 19 , wherein, in the case where the determined position is the third position, the robotic tool is moved by a scaled movement, which is calculated by dividing the movement distance by the repositioning scaling factor. 
     
     
         21 . A robotic surgical system, comprising:
 a processing unit;   a robotic system including:
 a robot base; 
 a linkage extending from the robot base including a plurality of members, the plurality of members configured to move in response to a scaled signal from the processing unit; and 
 a tool supported at an end of the linkage; and 
   a user interface including:
 an input arm having an input shaft; and 
 an input device coupled to the input shaft and including a repositioning control supported on a body of the input device, 
   wherein the processing unit is configured to:
 receive a signal representative of a movement distance of the input device; 
 determine a position of the repositioning control; 
 in response to determining that the position of the reposition control of the input control is in a first position, move the tool of the robotic system based on the movement distance of the input device and an operating scaling factor; 
 in response to determining that the position of the repositioning control of the input device is in a second position different from the first position, enter a clutching mode to decouple the tool of the robotic system from the input device; and 
 in response to determining that the position of the repositioning control of the input device is in a third position different from the first and second positions, leave the clutching mode.