Control console including an input arm for control of a surgical mechanical arm

Abstract

A surgical system comprising: a surgical mechanical arm comprising a plurality of surgical arm sections sequentially coupled by surgical arm joints; an input arm comprising: a plurality of input arm sections sequentially coupled by input arm joints; and an elongate handle: sized and shaped to be held between a human adult's thumb and one or more finger, coupled to a distal end of said input arm by a flexion joint; and extending proximally with respect to a most distal input arm section so a user grasping said handle bends said flexion joint to hold said handle above other portions of the input arm; at least one sensor configured to measure movement of one or more of said sections; and circuitry configured to receive a measurement signal from said at least one sensor and to generate a control signal, based on said measurement signal for control of movement of said surgical mechanical arm.

What is claimed is: 
     
         1 . A control console for control of a bidirectional medical surgical device comprising:
 a. a control console base;   b. an input arm attached to said control console base, said input arm comprising a first configuration and a second configuration; said input arm comprising:
 i. a support coupled to said control console base; 
 ii. a proximal end coupled to said support; 
 iii. a distal end; 
 iv. a handle section at said distal end and configured for being held by a user; 
 v. an articulated controller portion constituted by a two or more sections sequentially coupled by input arm joints, extending from said proximal end and terminating at said distal end; 
   wherein in said first configuration an imaginary line extending from the proximal end to the distal end points in a first direction in relation to a user, while in said second configuration said imaginary line points in a second direction in relation to a user.   
     
     
         2 . The control console according to  claim 1 , wherein the controller is designed such that transition from said first configuration to said second configuration and vice versa is possible while keeping said handle section in a same orientation in relation to said user. 
     
     
         3 . The control console according to  claim 1 , wherein said second direction is opposite to said first direction. 
     
     
         4 . The control console according to  claim 1 , wherein said first direction is from said support towards said user. 
     
     
         5 . The control console according to  claim 1 , wherein said second direction is from said support away from said user. 
     
     
         6 . The control console according to  claim 1 , wherein passage from said first configuration to said second configuration and vice versa comprises rotating said support about 180 degrees along a longitudinal axis of said support. 
     
     
         7 . The control console according to  claim 1 , further comprising an armrest attached to said control console base. 
     
     
         8 . The control console according to  claim 1 , wherein said handle extends proximally with respect to a most distal input arm section. 
     
     
         9 . The control console according to  claim 1 , wherein said handle extends towards a most distal input arm joint. 
     
     
         10 . The control console according to  claim 1 , wherein a long axis length of said handle is 30-100% of a maximum length of said input arm. 
     
     
         11 . The control console according to  claim 1 , comprising a first input arm and a second input arm coupled to said control base according to said input arm. 
     
     
         12 . The control console according to  claim 1 , wherein said handle section is sized and shaped to be held between a human adult's thumb and one or more finger, where a maximum dimension of said handle perpendicular to a handle long axis is 5 mm-15 mm and a long axis length of said handle is 20-200 mm. 
     
     
         13 . The control console according to  claim 1 , wherein one or more of said two or more sections are sized such that a user holding said handle is able to support one or more sections with the user's palm of the hand holding said handle. 
     
     
         14 . The control console according to  claim 1 , further comprising a seat attached to said control console base.