CN109844678B - 用户接口装置 - Google Patents

用户接口装置 Download PDF

Info

Publication number
CN109844678B
CN109844678B CN201780057639.5A CN201780057639A CN109844678B CN 109844678 B CN109844678 B CN 109844678B CN 201780057639 A CN201780057639 A CN 201780057639A CN 109844678 B CN109844678 B CN 109844678B
Authority
CN
China
Prior art keywords
trigger
user interface
interface device
user
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201780057639.5A
Other languages
English (en)
Chinese (zh)
Other versions
CN109844678A (zh
Inventor
R·A·卡思伯森
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CMR Surgical Ltd
Original Assignee
CMR Surgical Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CMR Surgical Ltd filed Critical CMR Surgical Ltd
Publication of CN109844678A publication Critical patent/CN109844678A/zh
Application granted granted Critical
Publication of CN109844678B publication Critical patent/CN109844678B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04785—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement
    • G05G9/04788—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B25J13/025—Hand grip control means comprising haptic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • G05G1/06—Details of their grip parts
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04737—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04774—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional switches or sensors on the handle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Mechanical Control Devices (AREA)
  • User Interface Of Digital Computer (AREA)
CN201780057639.5A 2016-09-21 2017-09-19 用户接口装置 Active CN109844678B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB1616086.3A GB2554363B (en) 2016-09-21 2016-09-21 User interface device
GB1616086.3 2016-09-21
PCT/GB2017/052786 WO2018055352A1 (en) 2016-09-21 2017-09-19 User interface device

Publications (2)

Publication Number Publication Date
CN109844678A CN109844678A (zh) 2019-06-04
CN109844678B true CN109844678B (zh) 2021-03-19

Family

ID=57288630

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780057639.5A Active CN109844678B (zh) 2016-09-21 2017-09-19 用户接口装置

Country Status (6)

Country Link
US (3) US10824186B2 (https=)
EP (1) EP3516475B1 (https=)
JP (1) JP7233367B2 (https=)
CN (1) CN109844678B (https=)
GB (1) GB2554363B (https=)
WO (1) WO2018055352A1 (https=)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2554363B (en) 2016-09-21 2021-12-08 Cmr Surgical Ltd User interface device
DE102019101646A1 (de) * 2019-01-23 2020-07-23 HELLA GmbH & Co. KGaA Pedalemulator für ein Fahrzeug
US10838486B2 (en) 2019-02-28 2020-11-17 Microsoft Technology Licensing, Llc Virtual reality controller
GB2588176B (en) * 2019-10-11 2023-07-26 Cmr Surgical Ltd Controlling a surgical instrument
USD902938S1 (en) * 2019-11-21 2020-11-24 Marketing Instincts Inc. Skin cover for a game controller
USD919009S1 (en) * 2019-11-21 2021-05-11 Jonathan Blake Buller Skin cover for a game controller
USD920341S1 (en) * 2019-11-21 2021-05-25 Marketing Instincts Inc. Skin cover set for a game controller
USD1035596S1 (en) * 2021-10-15 2024-07-16 Hyundai Motor Company Wearable walking assistance robot controller
USD1036396S1 (en) * 2021-10-15 2024-07-23 Hyundai Motor Company Wearable walking-assistance robot controller
WO2023101950A1 (en) * 2021-11-30 2023-06-08 Endoquest Robotics, Inc. Position control for patient console

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103562064A (zh) * 2011-05-12 2014-02-05 庞巴迪公司 控制器
CN105636865A (zh) * 2013-10-15 2016-06-01 萨甘安全防护公司 用于飞行器的飞行控制装置
CN105939679A (zh) * 2013-12-27 2016-09-14 伊西康内外科有限责任公司 用于超声外科器械的联接结构

Family Cites Families (88)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2754505A (en) 1953-10-21 1956-07-10 Tactair Inc Tactile control indicator
US4795296A (en) * 1986-11-17 1989-01-03 California Institute Of Technology Hand-held robot end effector controller having movement and force control
US5116180A (en) * 1988-07-18 1992-05-26 Spar Aerospace Limited Human-in-the-loop machine control loop
US6390370B1 (en) * 1990-11-15 2002-05-21 Symbol Technologies, Inc. Light beam scanning pen, scan module for the device and method of utilization
US5389865A (en) * 1992-12-02 1995-02-14 Cybernet Systems Corporation Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor
US5731804A (en) * 1995-01-18 1998-03-24 Immersion Human Interface Corp. Method and apparatus for providing high bandwidth, low noise mechanical I/O for computer systems
JP2698320B2 (ja) * 1993-08-31 1998-01-19 日本電信電話株式会社 常装着型入力システム、常装着型意図伝達システム、常装着型音楽用キーボードシステム及び常装着型点字入出力システム
JPH07246578A (ja) * 1994-03-11 1995-09-26 Yaskawa Electric Corp マスターハンド装置
US20050192727A1 (en) * 1994-05-09 2005-09-01 Automotive Technologies International Inc. Sensor Assemblies
US6256011B1 (en) 1997-12-03 2001-07-03 Immersion Corporation Multi-function control device with force feedback
US6184868B1 (en) * 1998-09-17 2001-02-06 Immersion Corp. Haptic feedback control devices
US6951535B2 (en) * 2002-01-16 2005-10-04 Intuitive Surgical, Inc. Tele-medicine system that transmits an entire state of a subsystem
US6536298B1 (en) * 2000-06-30 2003-03-25 Caterpillar Inc Modular joystick
US7877243B2 (en) * 2001-07-16 2011-01-25 Immersion Corporation Pivotable computer interface
KR100507554B1 (ko) * 2003-05-21 2005-08-17 한국과학기술연구원 병렬형 햅틱 조이스틱 시스템
US20050252329A1 (en) * 2004-05-13 2005-11-17 Jean-Guy Demers Haptic mechanism
CN100447031C (zh) * 2004-06-14 2008-12-31 李昌学 操纵杆装置
US7089099B2 (en) * 2004-07-30 2006-08-08 Automotive Technologies International, Inc. Sensor assemblies
DE602005013571D1 (de) * 2004-12-14 2009-05-07 Howard Mark Anthony Detektor
US7642741B2 (en) * 2005-04-27 2010-01-05 Sidman Adam D Handheld platform stabilization system employing distributed rotation sensors
JP2006334695A (ja) * 2005-05-31 2006-12-14 Kyoto Univ 遠隔操縦装置
DE502007001798D1 (de) * 2006-02-24 2009-12-03 Ferrobotics Compliant Robot Te Roboterarm
WO2008060690A2 (en) * 2006-05-12 2008-05-22 Irobot Corporation Method and device for controlling a remote vehicle
DE602006017820D1 (de) * 2006-07-03 2010-12-09 Force Dimension S A R L Schwerkraftausgleich für eine haptische Vorrichtung
CN101610721A (zh) * 2006-09-25 2009-12-23 皇家飞利浦电子股份有限公司 触觉反馈医学扫描方法和系统
ATE530305T1 (de) * 2006-12-19 2011-11-15 Univ Deakin Verfahren und vorrichtung zur haptischen steuerung
US8682502B2 (en) * 2007-03-28 2014-03-25 Irobot Corporation Remote vehicle control system and method
US7808235B2 (en) * 2007-11-29 2010-10-05 Rockwell Automation Technologies, Inc. Apparatus and methods for proximity sensing circuitry
US8727966B2 (en) * 2008-03-31 2014-05-20 Intuitive Surgical Operations, Inc. Endoscope with rotationally deployed arms
US8340819B2 (en) * 2008-09-18 2012-12-25 Intouch Technologies, Inc. Mobile videoconferencing robot system with network adaptive driving
US7843277B2 (en) * 2008-12-16 2010-11-30 Immersion Corporation Haptic feedback generation based on resonant frequency
US8374723B2 (en) * 2008-12-31 2013-02-12 Intuitive Surgical Operations, Inc. Obtaining force information in a minimally invasive surgical procedure
US8594841B2 (en) * 2008-12-31 2013-11-26 Intuitive Surgical Operations, Inc. Visual force feedback in a minimally invasive surgical procedure
US8418073B2 (en) * 2009-03-09 2013-04-09 Intuitive Surgical Operations, Inc. User interfaces for electrosurgical tools in robotic surgical systems
US8473101B2 (en) * 2009-08-21 2013-06-25 Harris Corporation Coordinated action robotic system and related methods
AU2011237357B2 (en) * 2010-04-09 2016-05-19 Deka Products Limited Partnership System and apparatus for robotic device and methods of using thereof
US9782214B2 (en) * 2010-11-05 2017-10-10 Ethicon Llc Surgical instrument with sensor and powered control
US8606403B2 (en) * 2010-12-14 2013-12-10 Harris Corporation Haptic interface handle with force-indicating trigger mechanism
US9119655B2 (en) * 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
US8918215B2 (en) * 2011-01-19 2014-12-23 Harris Corporation Telematic interface with control signal scaling based on force sensor feedback
US8918214B2 (en) * 2011-01-19 2014-12-23 Harris Corporation Telematic interface with directional translation
US9566710B2 (en) * 2011-06-02 2017-02-14 Brain Corporation Apparatus and methods for operating robotic devices using selective state space training
US20150127154A1 (en) * 2011-06-02 2015-05-07 Brain Corporation Reduced degree of freedom robotic controller apparatus and methods
JP6000641B2 (ja) * 2011-08-04 2016-10-05 オリンパス株式会社 マニピュレータシステム
WO2013018861A1 (ja) * 2011-08-04 2013-02-07 オリンパス株式会社 医療用マニピュレータおよびその制御方法
WO2013119850A1 (en) 2012-02-07 2013-08-15 Estes Design And Manufacturing Inc. Sterilization tray for instruments
US20130293362A1 (en) * 2012-05-03 2013-11-07 The Methodist Hospital Research Institute Multi-degrees-of-freedom hand controller
US9317123B2 (en) * 2012-06-13 2016-04-19 University Of Utah Research Foundation Skin stretch feedback devices, systems, and methods
US8958912B2 (en) * 2012-06-21 2015-02-17 Rethink Robotics, Inc. Training and operating industrial robots
US9283045B2 (en) * 2012-06-29 2016-03-15 Ethicon Endo-Surgery, Llc Surgical instruments with fluid management system
US9820768B2 (en) * 2012-06-29 2017-11-21 Ethicon Llc Ultrasonic surgical instruments with control mechanisms
KR102668586B1 (ko) * 2012-08-03 2024-05-28 스트리커 코포레이션 로봇 수술을 위한 시스템 및 방법
US11351042B2 (en) * 2012-08-12 2022-06-07 5Th Element Limited Automated hand
US9095367B2 (en) * 2012-10-22 2015-08-04 Ethicon Endo-Surgery, Inc. Flexible harmonic waveguides/blades for surgical instruments
US10201365B2 (en) * 2012-10-22 2019-02-12 Ethicon Llc Surgeon feedback sensing and display methods
WO2014120984A2 (en) * 2013-01-30 2014-08-07 David Paul Smith Operator controlled electrical output signal device with variable feel and hold feedback and automated calibration and learnable performance optimization
MX352726B (es) * 2013-02-28 2017-12-06 Facebook Inc Controlador de retroalimentación de fuerza exoesqueletal modular.
BR112015021082B1 (pt) * 2013-03-01 2022-05-10 Ethicon Endo-Surgery, Inc Instrumento cirúrgico
US9404727B2 (en) * 2013-09-16 2016-08-02 Texas Instruments Incorporated Inductive position sensing with single channel interface to multiple resonant sensors
US20150101440A1 (en) * 2013-10-11 2015-04-16 Deere & Company Multifunctional control for a work vehicle
JP6358463B2 (ja) * 2013-11-13 2018-07-18 パナソニックＩｐマネジメント株式会社 マスタースレーブ装置用マスター装置及びその制御方法、及び、マスタースレーブ装置
CN112068526B (zh) * 2014-02-20 2024-05-17 M·奥利尼克 用于在机器人烹饪厨房中制备食物的方法和系统
US9579797B2 (en) * 2014-04-10 2017-02-28 Quanser Consulting Inc. Robotic systems and methods of operating robotic systems
US20170007337A1 (en) * 2014-07-01 2017-01-12 Auris Surgical Robotics, Inc. Driver-mounted torque sensing mechanism
US10518409B2 (en) * 2014-09-02 2019-12-31 Mark Oleynik Robotic manipulation methods and systems for executing a domain-specific application in an instrumented environment with electronic minimanipulation libraries
GB2532069A (en) * 2014-11-07 2016-05-11 Weatherstone Paul Game controller
CN107111682B (zh) * 2014-11-13 2022-05-03 直观外科手术操作公司 集成用户环境
US10126884B2 (en) * 2014-12-22 2018-11-13 Synaptics Incorporated Asynchronous interference detection in a capacitive sensing system
US10232255B2 (en) * 2015-04-30 2019-03-19 Microsoft Technology Licensing, Llc Paddle accessory for a game controller
US10232254B2 (en) * 2015-04-30 2019-03-19 Microsoft Technology Licensing, Llc Game controller with removable paddle accessory
US11020859B2 (en) * 2015-05-01 2021-06-01 Transportation Ip Holdings, Llc Integrated robotic system and method for autonomous vehicle maintenance
US9889566B2 (en) * 2015-05-01 2018-02-13 General Electric Company Systems and methods for control of robotic manipulation
US10525600B2 (en) * 2015-06-03 2020-01-07 L3Harris Technologies, Inc. Robotic system with haptic cutting tool
US10427035B2 (en) * 2015-06-09 2019-10-01 Microsoft Technology Licensing, Llc Game controller with removable trigger accessory
MX2018001057A (es) * 2015-08-03 2018-06-07 Halliburton Energy Services Inc Telemetria electromagnetica que utiliza electrodos capacitivos.
US10199850B2 (en) * 2015-09-16 2019-02-05 Energous Corporation Systems and methods for wirelessly transmitting power from a transmitter to a receiver by determining refined locations of the receiver in a segmented transmission field associated with the transmitter
US10085810B2 (en) * 2015-10-02 2018-10-02 Ethicon Llc User input device for robotic surgical system
ITUB20155057A1 (it) * 2015-10-16 2017-04-16 Medical Microinstruments S R L Assieme robotico di chirurgia
ITUB20154977A1 (it) * 2015-10-16 2017-04-16 Medical Microinstruments S R L Strumento medicale e metodo di fabbricazione di detto strumento medicale
CA3005991A1 (en) * 2015-11-30 2017-06-08 Stryker Corporation Surgical instrument with telescoping nose mechanism
US10562191B2 (en) * 2015-12-29 2020-02-18 Robomotive Laboratories LLC Method of controlling devices with sensation of applied force
US10434659B2 (en) * 2016-03-02 2019-10-08 Kindred Systems Inc. Systems, devices, articles, and methods for user input
GB2554363B (en) * 2016-09-21 2021-12-08 Cmr Surgical Ltd User interface device
US20180267690A1 (en) * 2017-03-20 2018-09-20 Georgia Tech Research Corporation Control system for a mobile manipulation device
US10732714B2 (en) * 2017-05-08 2020-08-04 Cirrus Logic, Inc. Integrated haptic system
US10514545B2 (en) * 2017-12-08 2019-12-24 Facebook Technologies, Llc Selective tracking of a head-mounted display
US11135031B2 (en) * 2018-06-15 2021-10-05 Verb Surgical Inc. User interface device having grip linkages
US11599107B2 (en) * 2019-12-09 2023-03-07 Fluidity Technologies Inc. Apparatus, methods and systems for remote or onboard control of flights

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103562064A (zh) * 2011-05-12 2014-02-05 庞巴迪公司 控制器
CN105636865A (zh) * 2013-10-15 2016-06-01 萨甘安全防护公司 用于飞行器的飞行控制装置
CN105939679A (zh) * 2013-12-27 2016-09-14 伊西康内外科有限责任公司 用于超声外科器械的联接结构

Also Published As

Publication number Publication date
WO2018055352A1 (en) 2018-03-29
US20220261029A1 (en) 2022-08-18
US10824186B2 (en) 2020-11-03
US11803206B2 (en) 2023-10-31
US20210018951A1 (en) 2021-01-21
JP2019533267A (ja) 2019-11-14
US11366484B2 (en) 2022-06-21
US20200019205A1 (en) 2020-01-16
EP3516475A1 (en) 2019-07-31
EP3516475B1 (en) 2025-07-09
EP3516475C0 (en) 2025-07-09
GB201616086D0 (en) 2016-11-02
GB2554363B (en) 2021-12-08
GB2554363A (en) 2018-04-04
JP7233367B2 (ja) 2023-03-06
CN109844678A (zh) 2019-06-04

Similar Documents

Publication Publication Date Title
CN109844678B (zh) 用户接口装置
EP2744629B1 (en) Haptic manipulation system for wheelchairs
CN107847284B (zh) 用于在机器人手术系统中接收操作员输入的手柄设备
US10842578B2 (en) Robot system
CN107708594B (zh) 用于机器人手术系统的控制臂组合件
CN113194870B (zh) 使用者界面装置、手术机器人装置的主控制台及其操作方法
AU2022224785B2 (en) Camera Control
JPH05228854A (ja) ７自由度アーム制御方式
CN218075213U (zh) 手术机器人多功能控制装置
GB2596658A (en) User interface device
GB2606672A (en) Camera control
GB2605090A (en) Camera control
GB2605091A (en) Camera control
JP2007331089A (ja) ロボットの操縦システム

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant