Interface apparatus with cable-driven force feedback and four grounded actuators

• US 20030068607A1
• Filed: 07/15/2002
• Published: 04/10/2003
• Est. Priority Date: 07/16/2001
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Bailey, David W., Olien, Neil T., Vassallo, Steven P., Gregorio, Pedro
• Granted Patent: US 7,056,123 B2
• Time in Patent Office: Days
• US Class Current: 434/262
• CPC Class Codes: A61B 2017/00707 Dummies, phantoms; Devices simulating patient or parts of patient
• CPC Class Codes: A61B 2034/741 Glove like input devices, e.g. "data gloves"
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: G05B 2219/40122 Manipulate virtual object, for trajectory planning of real object, haptic display
• CPC Class Codes: G05B 2219/45118 Endoscopic, laparoscopic manipulator
• CPC Class Codes: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas

Abstract

A system for providing realistic sensation within a simulation system by providing tactile (haptic) feedback to a user. The system includes an engageable practice tool that the user engages and a mechanical simulation apparatus coupled to the practice tool. The mechanical simulation apparatus includes a ground member, a mechanical linkage rotatably coupled to the ground member, a linear axis member coupled to the practice tool and the mechanical linkage, at least four actuators coupled to the ground member, sensors for sensing movement of the actuators, and at least three cables in contact with the at least four actuators and coupled to the mechanical linkage. An interface device is coupled to the simulation apparatus and a host computer is coupled to the interface device for implementing an application program. The application program provides signals for the actuators to move the cables and thereby move the mechanical linkage.

Claims

1. A system for providing a realistic sensation to a user by providing resistance, the system comprising:

an engageable practice tool that the user engages;

a mechanical simulation apparatus comprising a mechanical linkage coupled to the practice tool;

an interface device coupled to the simulation device; and

a host computer coupled to the interface device for implementing an application program, the application program providing signals for the actuator to move the mechanical linkage.

2. A system in accordance with claim 1 wherein the practice tool is configured as a practice medical tool.

3. A system in accordance with claim 1 wherein the interface device is included within one of the host computer and the mechanical simulation apparatus.

4. A system in accordance with claim 1 wherein the interface device is separate from the host computer and the mechanical simulation apparatus.

5. A system in accordance with claim 1 wherein the interface device comprises a microprocessor local to the mechanical simulation apparatus.

6. A system in accordance with claim 1 wherein the system further comprises a barrier between the mechanical simulation apparatus and the user.

7. A system in accordance with claim 1 wherein the practice tool is configured as a laparoscopic tool and includes a trocar.

8. A system in accordance with claim 1 wherein the practice tool is configured as one of a group comprising catheters, hypodermic needles, wires, fiber optic bundles, styluses, joysticks, screw drivers, pool cues and hand grips.

9. A system in accordance with claim 1 wherein the system comprises multiple practice tools.

10. A system in accordance with claim 1 wherein mechanical simulation apparatus comprises:

a ground member;

a mechanical linkage coupled to the ground member;

a linear axis member coupled to the practice tool and the mechanical linkage;

at least one actuator coupled to the ground member; and

a cable in engagement with the at least one actuator and coupled to the mechanical linkage.

11. A system in accordance with claim 10 wherein the system comprises at least four actuators.

12. A system in accordance with claim 11 wherein the at least four actuators comprise DC motors.

13. A system in accordance with claim 11 wherein the system comprises at least three cables in various engagement with the at least four actuators.

14. A system in accordance with claim 10 further comprising at least one sensor that senses movement of at least one of one of the at least one actuator and the mechanical linkage.

15. A system in accordance with claim 10 further comprising at least four sensors that sense movement of at least one of the at least four actuators and the mechanical linkage.

16. A system for providing a realistic sensation by providing resistance to a user, the system comprising:

an engageable practice tool that the user engages;

a mechanical simulation apparatus coupled to the practice tool, the mechanical simulation apparatus comprising;

a ground member;

a mechanical linkage rotatably coupled to the ground member;

a linear axis member coupled to the practice tool and the mechanical linkage;

at least four actuators coupled to the ground member;

at least one sensor for sensing movement of at least one of the actuators and the mechanical linkage; and

at least three cables in contact with the at least four actuators and coupled to the mechanical linkage;

an interface device coupled to the simulation apparatus; and

a host computer coupled to the interface device for implementing an application program, the application program providing signals for the actuators to move the cables and thereby move the mechanical linkage.

17. A system in accordance with claim 16 wherein the practice tool is configured as a practice medical tool.

18. A system in accordance with claim 16 wherein the interface device is included within one of the host computer and the mechanical simulation apparatus.

19. A system in accordance with claim 16 wherein the interface device is separate from the host computer and the mechanical simulation apparatus.

20. A system in accordance with claim 16 wherein the at least four actuators comprise DC motors.

21. A system in accordance with claim 16 wherein the interface device comprises a microprocessor local to mechanical simulation apparatus.

22. A system in accordance with claim 16 wherein the system further comprises a barrier between the mechanical simulation apparatus and the user.

23. A system in accordance with claim 16 wherein the practice tool is configured as a laparoscopic tool and includes a trocar.

24. A system in accordance with claim 16 wherein the practice tool is configured as one of a group comprising catheters, hypodermic needles, wires, fiber optic bundles, styluses, joysticks, screw drivers, pool cues and hand grips.

25. A system in accordance with claim 16 wherein the system comprises multiple practice tools.

26. A method for providing a realistic sensation to a user by providing resistance, the method comprising:

providing an engageable practice tool coupled to a mechanical simulation apparatus comprising a mechanical linkage, at least one actuator, at least one cable in engagement with the at least one actuator and coupled to the mechanical linkage, and a sensor;

engaging the tool by the user;

applying a force to the practice tool by the user;

sensing a position of the tool with the sensor;

providing the position sensed to a host computer that includes an application program; and

providing a signal from the host computer to the at least one actuator to move the at least one cable and thereby move the mechanical linkage, the signal being based upon the position sensed and the application program.

27. A method in accordance with claim 26 wherein the mechanical simulation apparatus comprises at least four actuators, and at least three cables in various engagement with the at least four actuators and coupled to the mechanical linkage, and wherein the signal is provided from the host computer for at least one of the at least four actuators to move the at least one of the at least three cables and thereby move the mechanical linkage, the signal being based upon the position sensed and the application program.