Interaction between user-interface and instrument motion controller

An apparatus comprising:

• one or more sensors configured to sense motion of a hand-actuated selector;
• processing circuitry;
• and
• a memory system storing instructions which, when executed by the processing circuitry, cause the processing circuitry to perform operations comprising:
• causing motion of a cursor in a first 2D plane to follow motion of a user input device in a second 2D plane according to a first movement ratio that changes as a function of rate of movement of the hand-actuated selector, wherein the first movement ratio decreases as a function of increasing rate of movement of the hand-actuated selector relative to the user input device being less than a first threshold and wherein the first movement ratio increases as a function of decreasing rate of movement of the hand-actuated selector relative to the user input device being less than the first threshold;
• causing motion of the cursor in the first 2D plane to follow motion of the user input device in the second 2D plane according to a second movement ratio responsive to the hand-actuated selector moving relative to the user input device at a rate greater than the first threshold;
• and
• causing motion of the cursor in the first 2D plane to follow motion of the user input device in the second 2D plane according to a third movement ratio responsive to the hand-actuated selector moving relative to the user input device at a rate greater than a second threshold.

An apparatus comprising:

• one or more sensors configured to sense motion of the hand-actuated selector;
• processing circuitry;
• and
• a memory system storing instructions which, when executed by the processing circuitry, cause the processing circuitry to perform operations comprising:
• causing motion of a cursor in a first 2D plane to follow motion of a user input device in a second 2D plane according to a first movement ratio that changes as a function of rate of movement of the hand-actuated selector, wherein the first movement ratio decreases as a function of increasing rate of movement of the hand-actuated selector relative to the user input device being less than a first threshold and the first movement ratio increases as a function of decreasing rate of movement of the hand-actuated selector relative to the user input device being less than the first threshold;
• causing motion of the cursor in the first 2D plane to stop following motion of the user input device in the second 2D plane, responsive to the hand-actuated selector moving relative to the user input device at a rate greater than a second threshold rate

An apparatus, comprising:

• one or more sensors configured to sense amount of displacement of a hand-actuated selector from a neutral position;
• one or more motors configured to impart haptic force to the hand-actuated selector;
• a stop surface to stop motion of the hand-actuated selector and a resilient member to cause the hand-actuated selector to move to the neutral position;
• processing circuitry;
• a memory system storing instructions which, when executed by the processing circuitry, cause the processing circuitry to perform operations comprising:
• in response to the hand-actuated sensor at a displacement distance less than a first threshold distance from the neutral position, controlling one or more motors according to a first control state to impart a maintaining force;
• and
• in response to sensing the hand-actuated sensor at a displacement distance between a first threshold distance from a neutral position neutral position and a second threshold distance from the neutral position, controlling one or more motors according to a second control state to impart a haptic force to the hand-actuated selector that increases in magnitude as a function of increasing displacement of the hand-actuated selector from the neutral displacement position.