Virtual Tool Manipulation System

• US 20090177452A1
• Filed: 01/08/2008
• Published: 07/09/2009
• Est. Priority Date: 01/08/2008
• Status: Active Grant

• Current Assignee: Immersion Medical Inc (Immersion Corporation)
• Original Assignee: Immersion Medical Inc (Immersion Corporation)
• Inventors: Kunkler, Kevin J., Ullrich, Christopher J.
• Granted Patent: US 9,881,520 B2
• Time in Patent Office: Days
• US Class Current: 703/11
• CPC Class Codes: A61B 2034/741 Glove like input devices, e.g. "data gloves"
• 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 34/74 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: G06F 3/014 Hand-worn input/output arrangements, e.g. data gloves
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G09B 23/28 for medicine
• CPC Class Codes: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas

Abstract

In the field of virtual reality, virtual tool manipulation systems and related methods and software are described in the present disclosure. One implementation of a virtual tool manipulation system, among others, comprises a motion tracking system configured to generate motion information related to the position of a part of a user'"'"'s body. The virtual tool manipulation system also comprises a haptic feedback system configured to provide a haptic sensation to the user based on the motion information, the position of a virtual tool, and characteristics of the virtual tool.

Claims

1. A virtual tool manipulation system comprising:

a motion tracking system configured to generate motion information related to the position of a part of a user'"'"'s body; and

a haptic feedback system configured to provide a haptic sensation to the user based on the motion information, the position of a virtual tool, and characteristics of the virtual tool.

2. The virtual tool manipulation system of claim 1, further comprising a processing system configured to process the motion information to generate haptic feedback signals, the processing system transmitting the haptic feedback signals to the haptic feedback system, wherein the haptic feedback signals are related to the haptic sensation.

3. The virtual tool manipulation system of claim 2, wherein the processing system comprises a microprocessor, memory, a first interface device, and a second interface device, the first interface device configured to communicate with the motion tracking system and the second interface device configured to communicate with the haptic feedback system.

4. The virtual tool manipulation system of claim 1, further comprising a visual feedback system configured to provide video images to the user based on the motion information, the position of the virtual tool, the design of the virtual tool, and a virtual subject that receives the effect of the virtual tool.

5. The virtual tool manipulation system of claim 1, wherein the motion tracking system comprises a data glove.

6. The virtual tool manipulation system of claim 1, wherein the motion tracking system comprises an optical motion capture system.

7. The virtual tool manipulation system of claim 1, wherein the motion tracking system is configured to track the motion of a human in training and the haptic feedback system is configured to provide haptic feedback to the human in training.

8. The virtual tool manipulation system of claim 7, wherein the human in training is a surgeon-in-training, the virtual tool is a virtual surgical tool, and a subject experiencing the actions of the virtual surgical tool is a virtual patient.

9. The virtual tool manipulation system of claim 1, wherein the virtual tool does not include a corresponding physical structure in reality.

10. The virtual tool manipulation system of claim 1, further comprising a physical prop corresponding to the virtual tool.

11. A processing device comprising:

a memory device adapted to store a virtual tool manipulation program;

a microprocessor adapted to execute the virtual tool manipulation program;

a motion tracker interface adapted to receive motion information representing motion of a user; and

a haptic device interface adapted to generate haptic feedback signals for controlling a haptic feedback device;

wherein the virtual tool manipulation program is adapted to simulate a surgical procedure.

12. The processing device of claim 11, further comprising input/output (I/O) devices allowing a tool designer to enter a tool design into the memory device.

13. The processing device of claim 11, further comprising a virtual display interface adapted to generate video signals to a visual feedback system.

14. The processing device of claim 11, wherein the virtual tool manipulation program is implemented on a computer-readable medium.

15. The processing device of claim 14, wherein:

the virtual tool manipulation program comprises simulation files, interaction modules, and output processing modules;

the simulation files simulate a virtual manipulator, a virtual tool, and a virtual subject;

the interaction modules simulate a first interaction between the virtual manipulator and the virtual tool and a second interaction between the virtual tool and the virtual subject; and

the output processing modules generate signals to stimulate at least one sense of the user.

16. The processing device of claim 15, wherein the output processing modules generate haptic feedback signals and virtual reality image signals.

17. A virtual tool manipulation program stored on a computer-readable medium, the virtual tool manipulation program comprising:

simulation data configured to define characteristics of a virtual tool, a virtual tool manipulator, and a virtual subject;

logic configured to define the interaction among the virtual tool and at least one of the virtual tool manipulator and the virtual subject; and

logic configured to generate output information for controlling a haptic feedback system to induce haptic sensations on a user.

18. The virtual tool manipulation program of claim 17, wherein:

the simulation data defining the virtual tool is configured to define a virtual surgical tool;

the simulation data defining the virtual tool manipulator is configured to define a virtual surgeon; and

the simulation data defining the virtual subject is configured to define a virtual patient.

19. The virtual tool manipulation program of claim 17, wherein the interaction modules comprise a manipulator/tool interaction module for analyzing the interaction between the virtual tool manipulator and the virtual tool and a tool/subject interaction module for analyzing the interaction between the virtual tool and the virtual subject.

20. The virtual tool manipulation program of claim 19, wherein the interaction modules further comprise a manipulator/subject interaction module for analyzing the interaction between the virtual tool manipulator and the virtual subject.

21. The virtual tool manipulation program of claim 17, wherein:

the logic configured to generate output information comprises a haptic feedback processing module and a virtual reality processing module;

the haptic feedback processing module is configured to generate haptic feedback signals for controlling the haptic feedback system; and

the virtual reality processing module is configured to generate video signals to a visual feedback system that displays images to the user.

22. The virtual tool manipulation program of claim 17, wherein the output processing modules further comprise an audio processing module configured to generate audio signals for providing audio output to the user.

23. The virtual tool manipulation program of claim 17, wherein the virtual tool exists exclusively in a virtual realm.