Yes, you can do so by going to the Live View page and appending ?deviceControl=true to the end of the URL in the address bar.
E.g. Let us say that you have submitted a test suite for a run and are viewing the device screen in Live View. The URL you now see would be in the following format:
http://robustest.devicelab.com/#/testsession/5de607e8f0238bc737645b5b/livescreen
To interact with the device:
Step 1: Add ?deviceControl=true to the end of the URL
The URL will now look as follows:
http://robustest.devicelab.com/#/testsession/5de607e8f0238bc737645b5b/livescreen?deviceControl=true
Step2: Refresh the browser page
You can now use your mouse to interact with the device screen