Apparatus and method for haptic rendering

• US 20070142751A1
• Filed: 12/27/2006
• Published: 06/21/2007
• Est. Priority Date: 03/06/2002
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Kang, Hyosig, Moses, Dennis, Quaid, Arthur
• Granted Patent: US 8,571,628 B2
• Time in Patent Office: Days
• US Class Current: 600/587
• CPC Class Codes: A61B 17/1675 for the knee
• CPC Class Codes: A61B 17/1677 for the patella
• CPC Class Codes: A61B 17/1695 Trepans or craniotomes, i.e. specially adapted for drilling thin bones such as the skull
• CPC Class Codes: A61B 17/17 Guides or aligning means for drills , mills, pins or wires
• CPC Class Codes: A61B 17/1703 using imaging means, e.g. by X-rays
• CPC Class Codes: A61B 17/1739 specially adapted for particular parts of the body
• CPC Class Codes: A61B 17/1764 for the knee
• CPC Class Codes: A61B 17/1767 for the patella
• CPC Class Codes: A61B 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/108 Computer aided selection or customisation of medical implants or cutting guides
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/207 : Divots for calibration
• CPC Class Codes: A61B 2034/252 : indicating steps of a surgical procedure
• CPC Class Codes: A61B 2034/254 : being adapted depending on the stage of the surgical procedure
• CPC Class Codes: A61B 2034/305 : Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/08021 : of the patient or his organs
• CPC Class Codes: A61B 2090/365 : augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/3937 : Visible markers
• CPC Class Codes: A61B 2090/3983 : Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/10 : Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 : Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/35 : for telesurgery
• CPC Class Codes: A61B 34/37 : Master-slave robots A61B34/35 takes precedence
• 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 34/74 : Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 5/1127 : using markers
• CPC Class Codes: A61B 5/745 : using a holographic display
• CPC Class Codes: A61B 90/14 : Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
• CPC Class Codes: A61B 90/36 : Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: A61B 90/361 : Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/37 : Surgical systems with images on a monitor during operation
• CPC Class Codes: A61F 2/30942 : for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques
• CPC Class Codes: A61F 2/38 : for elbows or knees
• CPC Class Codes: A61F 2002/4632 : using computer-controlled surgery, e.g. robotic surgery
• CPC Class Codes: A61F 2002/4633 : for selection of endoprosthetic joints or for pre-operative planning
• CPC Class Codes: A61N 1/0534 : Electrodes for deep brain stimulation
• CPC Class Codes: A61N 1/3605 : Implantable neurostimulators for stimulating central or peripheral nerve system
• CPC Class Codes: A61N 1/372 : Arrangements in connection with the implantation of stimulators
• CPC Class Codes: G05B 2219/36432 : By putting some constraints on some DOF, move within limited volumes, areas, planes, limits motion in x, y or z planes, virtual reality constraints
• CPC Class Codes: G05B 2219/39196 : Use of passive joint, no actuator but brake, brake on or off
• CPC Class Codes: G05B 2219/40478 : Graphic display of work area of robot, forbidden, permitted zone
• CPC Class Codes: G05B 2219/45117 : Medical, radio surgery manipulator
• CPC Class Codes: G05B 2219/45171 : Surgery drill
• CPC Class Codes: G06F 3/016 : Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 : for local operation
• CPC Class Codes: G16Z 99/00 : Subject matter not provided for in other main groups of this subclass

Abstract

In one aspect, the invention relates to a method for generating a haptic penalty force, including in one embodiment, the steps of: defining a primary proxy position; defining a secondary proxy position; defining a HIP position; generating a first force in response to the primary proxy position and the HIP position and generating a second force in response to the secondary proxy position and the HIP position.

Claims

1. A method for generating a haptic penalty force comprising the steps of:

defining a primary proxy position;

defining a secondary proxy position;

defining a HIP position;

generating a first force in response to the primary proxy position and the HIP position when a HIP is positioned at a penetration depth less than or equal to a predetermined value from the primary proxy position; and

generating a second force in response to the secondary proxy position and the HIP position when the secondary proxy position is located at a penetration depth greater than the predetermined value from the primary proxy position.

2. The method of claim 1 wherein the predetermined value is a desired haptic offset.

3. The method of claim 1 wherein the first force is zero.

4. The method of claim 1 wherein the second force is a function of a distance between the secondary proxy position and the HIP position.

5. The method of claim 1 wherein the first force is determined in response, at least in part, to a distance between the primary proxy position and the HIP position.

6. The method of claim 1 wherein the second proxy position is determined in response, at least in part, to interactions between the HIP and a virtual haptic object.

7. The method of claim 1 wherein the penetration depth is a distance between the primary proxy position and the HIP position.

8. An apparatus for generating a haptic force comprising:

a primary proxy position locator for defining a primary proxy position;

a secondary proxy position locator for defining a secondary proxy position;

a HIP position locator for defining a HIP position; and

a force generator for generating a first force in response to the primary proxy position and the HIP position when a HIP is positioned at a penetration depth less than or equal to a predetermined value from the primary proxy position, and generating a second force in response to the secondary proxy position and the HIP position when the secondary proxy position is located at a penetration depth greater than the predetermined value from the primary proxy position.

9. The apparatus of claim 8 wherein the second force is determined, at least in part, in response to a distance between the secondary proxy position and the HIP position.

10. The apparatus of claim 8 wherein the first force is determined, at least in part, in response to a distance between the primary proxy position and the HIP position.

11. The apparatus of claim 8 wherein the second proxy position is determined, at least in part, in response to interactions between the HIP and a virtual haptic object.

12. A method for mapping a location in haptic space comprising the steps of:

a) defining a voxel space comprising a plurality of voxel elements;

b) defining a polygonal space comprising a plurality of polygonal rendering elements;

c) generating a data structure of each of the voxel elements and its respective polygonal rendering elements;

d) locating a point in haptic space;

e) mapping that point to a corresponding voxel element; and

f) selecting, in the data structure, at least one polygonal rendering element.

13. The method of claim 12 wherein the polygonal rendering element is triangular.

14. The method of claim 12 wherein each voxel element is an axis-aligned box.

15. A method of claim 12 wherein the data structure is a lookup table.

16. The method of claim 12 wherein after mapping the point to a corresponding voxel element searching neighboring polygons at the HIP.

17. A method for increasing haptic stability in a system having a plurality of transmission mechanisms and a plurality of joints, said method comprising the steps of:

calculating a spring force in response to the distance between a proxy position and a HIP position;

calculating a joint space spring torque in response to the spring force;

calculating a joint space damping torque in response to a joint velocity; and

adding the joint space damping torque and the joint space spring torque.

18. The method of claim 17 wherein the spring force is calculated in Cartesian coordinates.

19. The method of claim 18 wherein the spring force is a function of a difference between the proxy position and the HIP position.

20. The method of claim 17 wherein the joint space spring torque is calculated from a Jacobian transpose of the spring force.

21. The method of claim 17 wherein the joint space damping torque is a function of the joint velocity.

22. The method of claim 21 wherein the joint space damping torque is linearly proportional to the joint velocity and a constant of proportionality is calculated in response to diagonal terms of a joint space damping gain matrix.

23. A method of forming a uniphase haptic wall comprising determining from which position a HIP is approaching a boundary and permitting the HIP to pass through the boundary from a first direction and not to pass through the boundary from a second direction.