Hand-manipulated input device with hall effect sensor for robotic system

A method for operating a surgical tool, the method comprising:

• at one or more processors executing instructions stored in memory:
• detecting, with a Hall effect sensor, a magnetic field based on a first set of one or more magnets associated with a first set of one or more input objects and a second set of one or more magnets associated with a second set of one or more input objects, the first set of one or more input objects comprising a plurality of opposing links with one or more finger pads;
• determining a position of the first set of one or more input objects based on the magnetic field detected by the Hall effect sensor;
• and
• determining a position of the second set of one or more input objects based on the magnetic field detected by the Hall effect sensor.

An input device for controlling an operation of a surgical tool, the input device comprising:

• a first set of one or more input objects for receiving an input of a first type associated with the operation of the surgical tool;
• a second set of one or more input objects, distinct from the first set of one or more input objects, for receiving an input of a second type associated with the operation of the surgical tool;
• a first set of one or more magnets associated with the first set of one or more input objects;
• a second set of one or more magnets associated with the second set of one or more input objects;
• a first Hall effect sensor for detecting a magnetic field based on the first set of one or more magnets and the second set of one or more magnets;
• and
• a second Hall effect sensor distinct from the first Hall effect sensor for detecting a magnetic field based on the first set of one or more magnets and the second set of one or more magnets.

An input device for controlling an operation of a surgical tool, the input device comprising:

• a first set of one or more input objects for receiving an input of a first type associated with the operation of the surgical tool;
• a second set of one or more input objects, distinct from the first set of one or more input objects, for receiving an input of a second type associated with the operation of the surgical tool;
• a first set of one or more magnets associated with the first set of one or more input objects, the first set of one or more magnets including a first magnet and a second magnet;
• a second set of one or more magnets associated with the second set of one or more input objects;
• and
• a Hall effect sensor for detecting a magnetic field based on the first set of one or more magnets and the second set of one or more magnets,
• wherein:
• the first magnet and the second magnet are positioned such that a first pole of the first magnet and an opposing pole of the second magnet substantially face toward each other, or
• a magnetic axis of the first magnet is substantially parallel to an axis extending between the first magnet and the second magnet.

An input device for controlling an operation of a surgical tool, the input device comprising:

• a first set of one or more input objects for receiving an input of a first type associated with the operation of the surgical tool, the first set of one or more input objects including a first input object and a second input object;
• a second set of one or more input objects, distinct from the first set of one or more input objects, for receiving an input of a second type associated with the operation of the surgical tool;
• a first set of one or more magnets associated with the first set of one or more input objects, the first set of one or more magnets including a first magnet and a second magnet where the first magnet is non-rotatably coupled with the first input object and the second magnet is non-rotatably coupled with the second input object;
• a second set of one or more magnets associated with the second set of one or more input objects;
• and
• a Hall effect sensor for detecting a magnetic field based on the first set of one or more magnets and the second set of one or more magnets.

An input device for controlling an operation of a surgical tool, the input device comprising:

• a first set of one or more input objects for receiving an input of a first type associated with the operation of the surgical tool;
• a second set of one or more input objects, distinct from the first set of one or more input objects, for receiving an input of a second type associated with the operation of the surgical tool;
• a first set of one or more magnets associated with the first set of one or more input objects;
• a second set of one or more magnets associated with the second set of one or more input objects, the second set of one or more magnets including a third magnet and a fourth magnet;
• and
• a Hall effect sensor for detecting a magnetic field based on the first set of one or more magnets and the second set of one or more magnets;
• wherein:
• a magnetic axis of the third magnet is substantially parallel to a magnetic axis of the fourth magnet, or
• a magnetic axis of the third magnet is non-parallel to an axis extending between the third magnet and the fourth magnet.

An input device for controlling an operation of a surgical tool, the input device comprising:

• a first set of one or more input objects for receiving an input of a first type associated with the operation of the surgical tool;
• a second set of one or more input objects, distinct from the first set of one or more input objects, for receiving an input of a second type associated with the operation of the surgical tool, the second set of one or more input objects including a third input object and a fourth input object;
• a first set of one or more magnets associated with the first set of one or more input objects;
• a second set of one or more magnets associated with the second set of one or more input objects, the second set of one or more magnets including a third magnet and a fourth magnet where the third magnet is rotatably coupled with the third input object and the fourth magnet is rotatably coupled with the fourth input object;
• and
• a Hall effect sensor for detecting a magnetic field based on the first set of one or more magnets and the second set of one or more magnets.

An input device for controlling an operation of a surgical tool, the input device comprising:

• a first set of one or more input objects for receiving an input of a first type associated with the operation of the surgical tool;
• a second set of one or more input objects, distinct from the first set of one or more input objects, for receiving an input of a second type associated with the operation of the surgical tool;
• a first set of one or more magnets associated with the first set of one or more input objects, the first set of one or more magnets including a first magnet and a second magnet positioned on a first axis;
• a second set of one or more magnets associated with the second set of one or more input objects, the second set of one or more magnets includes a third magnet and a fourth magnet positioned on a second axis substantially orthogonal to the first axis;
• and
• a Hall effect sensor for detecting a magnetic field based on the first set of one or more magnets and the second set of one or more magnets.