User interface for a robot

Patent metadata

Field	Value
Publication number	US-10022195-B2
Application number	US-201615075910-A
Country	US
Kind code	B2
Filing date	Mar 21, 2016
Priority date	Mar 20, 2015
Publication date	Jul 17, 2018
Grant date	Jul 17, 2018

Abstract

A robotic system including: a robot arm; a camera for capturing motion of the robot arm; an input mechanism for detecting user input; a display device; and a controller. The controller can operate in (i) a first mode configured to drive the display device to display a video stream captured by the camera in a first format and to drive the robot arm such that motion by the user in a first direction causes the robot arm to move a reference part in a second direction; and (ii) a second mode configured to drive the display device to display the video stream in a second format reflected with respect to the first format and to drive the robot arm such that motion by the user in the first direction causes the robot arm to move the reference part in a direction opposite to the second direction.

First claim

The invention claimed is:

1. A robotic system comprising:
a robot arm;
a camera for capturing a video stream representing motion of the robot arm;
an input mechanism for detecting the motion of a user;
a display device; and
a controller for driving the robot arm to operate in response to motion of the user as detected by the input mechanism and for driving the display device to display a video stream captured by the camera;
the controller being capable of operating in:
a first mode in which the controller drives the display device to display the captured video stream in a first format and in which the controller drives the robot arm such that motion by the user in a first direction as detected by the input mechanism causes the robot arm to move a reference part in a second direction; and
a second mode in which the controller drives the display device to display the captured video stream in a second format that is reflected with respect to the first format and in which the controller drives the robot arm such that motion by the user in the first direction as detected by the input mechanism causes the robot arm to move the reference part in a direction opposite to the second direction.

2. A robotic system as claimed in claim 1 , the system comprising a second robot arm, the input mechanism being capable of independently detecting motion of two hands of the user, and the controller being configured so as to:
in the first mode drive the motion of a first one of the robot arms in dependence on a motion sensed in respect of a first hand of the user, and the motion of a second one of the robot arms in dependence on a motion sensed in respect of a second hand of the user; and
in the second mode drive the motion of the second one of the robot arms in dependence on a motion sensed in respect of the first hand of the user, and the motion of the first one of the robot arms in dependence on a motion sensed in respect of the second hand of the user.

3. A robotic system as claimed in claim 1 , wherein the input mechanism comprises one or more mechanical linkages, each linkage being movable by a respective hand of the user to detect motion of the user.

4. A robotic system as claimed in claim 1 , wherein the input mechanism comprises one or more detectors configured for remotely sensing the motion of the user.

5. A robotic system as claimed in claim 1 , wherein the second format is a format in which the captured video stream is reflected about an axis that is vertical with respect to the display device.

6. A robotic system as claimed in claim 1 , wherein the second format is a format in which the captured video stream is reflected about an axis that is vertical with respect to the user.

7. A robotic system as claimed in claim 1 , wherein the first direction is horizontal.

8. A robotic system as claimed in claim 1 , wherein the controller is configured such that, in both the first and second modes, the controller drives the robot arm such that motion of the user in a third direction orthogonal to the first direction as detected by the input mechanism causes motion of the reference part in a fourth direction orthogonal to the second direction.

9. A robotic system as claimed in claim 1 , comprising a dedicated input device for selecting whether the controller operates in the first mode or the second mode.

10. A robotic system as claimed in claim 1 , wherein the reference part is the distal end of the robot arm.

11. A robotic system as claimed in claim 1 , wherein the reference part is the distal tip of an instrument mounted on the arm.

12. A robotic system as claimed in claim 1 , wherein the camera is carried by a further robot arm.

13. A robotic system as claimed in claim 1 , the system being a surgical robotic system.

14. A robotic system comprising:
a first robot arm;
a second robot arm;
a camera for capturing a video stream representing motion of the first and second robot arms;
a display device;
an input mechanism for detecting the motion of a user, the input mechanism being capable of independently detecting motion of two hands of the user;

and
a controller for driving the robot arm to operate in response to motion of the user as detected by the input mechanism, the controller being configured so as to:
in a first mode (i) drive the motion of a first one of the robot arms in dependence on a motion sensed in respect of a first hand of the user, (ii) drive the motion of a second one of the robot arms in dependence on a motion sensed in respect of a second hand of the user, and (iii) drive the display device to display the captured video stream in a first format; and
in a second mode (i) drive the motion of the second one of the robot arms in dependence on a motion sensed in respect of the first hand of the user, (ii) drive the motion of the first one of the robot arms in dependence on a motion sensed in respect of the second hand of the user, and (iii) drive the display device to display the captured video stream in a second format that is reflected with respect to the first format.

15. A robotic system as claimed in claim 14 , wherein the second format is a format in which the captured video stream is reflected about an axis that is vertical with respect to the display device.

16. A robotic system as claimed in claim 14 , wherein the second format is a format in which the captured video stream is reflected about an axis that is vertical with respect to the user.

17. A robotic system as claimed in claim 14 , comprising a dedicated input device for selecting whether the controller operates in the first mode or the second mode.

18. A robotic system as claimed in claim 14 , wherein the camera is carried by a third robot arm.

19. A robotic system as claimed in claim 14 , the system being a surgical robotic system.

Assignees

• Cmr Surgical Ltd

Inventors

• Scholan Andrew

Classifications

• B25J9/16

  Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) · CPC title

• A61B2090/3612

  with images taken automatically · CPC title

• B25J9/1689

  Teleoperation · CPC title

• A61B2017/00207

  with hand gesture control or hand gesture recognition · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title