Laparoscopic simulation interface
First Claim
1. An apparatus, comprising:
- a user object including an elongated portion;
a closed-loop five member linkage coupled to the user object and configured to enable the user object to move in a first rotary degree of freedom, a second rotary degree of freedom, and in a translational degree of freedom, the close-loop five member linkage including a serial-linked chain of a ground member, a first extension member, a first central member, a second central member and a second extension member, the first and second central members being coupled to the user object respectively via a first object coupling and a second object coupling such that the first and second central members are substantially non-parallel with respect to the elongated portion of the user object, the first central member being fixedly coupled to the first object coupling, the second central member being fixedly coupled to the second object coupling; and
at least one sensor coupled to the closed-loop five member linkage and operative to detect a movement of the user object in at least one degree of freedom.
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Accused Products
Abstract
A method and apparatus for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism provides two revolute degrees of freedom to an object about two axes of rotation. A linear axis member is coupled to the gimbal mechanism at the intersection of the two axes of rotation. The linear axis member is capable of being translated along a third axis to provide a third degree of freedom. The user object is coupled to the linear axis member and is thus translatable along the third axis so that the object can be moved along all three degrees of freedom. Transducers associated with the provided degrees of freedom include sensors and actuators and provide an electromechanical interface between the object and a digital processing system. Capstan drive mechanisms transmit forces between the transducers and the object. The linear axis member can also be rotated about its lengthwise axis to provide a fourth degree of freedom, and, optionally, a floating gimbal mechanism is coupled to the linear axis member to provide fifth and sixth degrees of freedom to an object. Transducer sensors are associated with the fourth, fifth, and sixth degrees of freedom. The interface is well suited for simulations of medical procedures and simulations in which an object such as a stylus or a joystick is moved and manipulated by the user.
52 Citations
20 Claims
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1. An apparatus, comprising:
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a user object including an elongated portion;
a closed-loop five member linkage coupled to the user object and configured to enable the user object to move in a first rotary degree of freedom, a second rotary degree of freedom, and in a translational degree of freedom, the close-loop five member linkage including a serial-linked chain of a ground member, a first extension member, a first central member, a second central member and a second extension member, the first and second central members being coupled to the user object respectively via a first object coupling and a second object coupling such that the first and second central members are substantially non-parallel with respect to the elongated portion of the user object, the first central member being fixedly coupled to the first object coupling, the second central member being fixedly coupled to the second object coupling; and
at least one sensor coupled to the closed-loop five member linkage and operative to detect a movement of the user object in at least one degree of freedom. - View Dependent Claims (2, 3, 4, 5, 6, 7, 11, 12, 13, 14, 15, 16, 17, 18)
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8. An apparatus, comprising:
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a user object including a grip portion and an elongated portion, the user object being configured to represent a laparoscopic surgical instrument;
a closed-loop five member linkage coupled to the user object and configured to enable the user object to move in a first rotary degree of freedom, a second rotary degree of freedom, and in a translational degree of freedom, the close-loop five member linkage including a serial-linked chain of a ground member, a first extension member, a first central member, a second central member and a second extension member, the first and second central members being coupled to the user object respectively via a first object coupling and a second object coupling such that the first and second central members are substantially non-parallel with respect to the elongated portion of the user object, the first central member being fixedly coupled to the first object coupling, the second central member being fixedly coupled to the second object coupling;
at least one sensor coupled to the closed-loop five member linkage and operative to detect a movement of the user object in at least one degree of freedom, the detection of the at least one sensor associated with the movement of the user object being input to a laparoscopic surgical simulation; and
at least one actuator coupled to the closed-loop five member linkage and configured to output a feedback force, the feedback force being correlated with the laparoscopic surgical simulation. - View Dependent Claims (9, 10, 19, 20)
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Specification