CPC A61B 34/74 (2016.02) [A61B 18/1445 (2013.01); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 2017/0042 (2013.01); A61B 2018/00595 (2013.01); A61B 90/361 (2016.02)] | 21 Claims |
1. A hand grip apparatus for receiving operator input for controlling a surgical tool in a robotic surgery system, the apparatus comprising:
a body shaped to be grasped by a hand of an operator and having a distal portion extending along a first axis that extends to an interface end configured to be coupled to an input apparatus for controlling the surgical tool, the body having a proximal end extending along a second axis that is angled relative to the first axis in a generally transverse direction, the proximal end configured to support a palm of the operator's hand when grasping the apparatus;
a control lever attached to a side surface of the distal portion of the body at a first pivot joint and extending distally away from the proximal end, the control lever terminating in a finger grip end configured to receive one of the operator's fingers while the palm of the operator's hand is supported by the proximal end of the body, the control lever being moveable along a first plane relative to the body about the first pivot joint, wherein movement of the control lever is operable to produce a first control signal; and
an input control on an upper surface of the distal portion of the body and having an actuator surface, the input control being configured to produce a second control signal in response to actuation of the actuator surface by one of the operator's fingers, the proximal end extending along the second axis defining a contoured body extending downwardly relative to the upper surface and vertically below the distal portion;
wherein:
the first plane intersects the side surface and an opposite side surface of the distal portion of the body;
a second plane intersects the upper surface and a bottom surface of the body;
the first plane and the second plane are orthogonal; and
the first axis and the second axis are coplanar along the second plane.
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