Fingers-driven haptic interface for robot-assisted surgical system

A method of using haptic interface for a robot-assisted surgical system that includes a manipulator, a surgical instrument on the manipulator, and one or more forces sensors positioned to detect forces against the surgical instrument, the method comprising:

• positioning a plurality of linkages on a human hand, the linkages including joints, the linkages moveable relative to the joints in response to articulating of fingers of the human hand,
• positioning sensors on the human hand, wherein the sensors include a first plurality of sensors positioned to measure movement of the linkages, and a second plurality of sensors comprising accelerometers, gyroscopes or IMUS positioned to detect movement of the hand in roll, pitch or yaw;
• positioning a plurality of bladders on fingers of the human hand;
• receiving first user input from the first plurality of sensors in response to articulation of the linkages resulting from movement of the fingers,
• in response to the first user input, causing movement or actuation of a surgical instrument in jaw actuation or instrument articulation;
• receiving second user input from the second plurality of sensors,
• in response to the second user input, causing movement or actuation of a surgical instrument movement of the surgical instrument in at least one of axial roll, pitch and yaw;
• receiving force input from force sensors of the surgical system corresponding to forces against the surgical instrument, and
• in response to the force input, causing fluid to move into one or more of the bladders to provide tactile feedback to the human hand corresponding to the forces against the surgical instrument.