Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects

• US 5,623,582 A
• Filed: 07/14/1994
• Issued: 04/22/1997
• Est. Priority Date: 07/14/1994
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Human Interface Corporation
• Inventors: Rosenberg, Louis B.
• Primary Examiner(s): Powell, Mark R.
• Assistant Examiner(s): LOUI, MARTIN S
• Application Number:
  US08/275,120
• Time in Patent Office: 1,013 Days
• Field of Search: 345/161, 345/184, 345/156, 345/157, 345/158, 345/165, 345/166, 345/8, 345/7, 318/567, 600/201, 600/130, 606/9.1, 606/130, 128/897, 128/662.06, 74/471, 364/413.13, 364/413.01-413.02, 364/413.04, 364/413.22, 364/413.19, 348/77, 395/99, 395/95
• US Class Current: 700/264
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 19/409 characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters G05B19/408, G05B19/4093 take precedence
• CPC Class Codes: G05B 2219/35338 Display virtual tool, locus, part to check possibility of execution next block
• CPC Class Codes: G05B 2219/35441 Production design metaphore, tool, operation like input system
• CPC Class Codes: G05B 2219/40119 Virtual internal model, derive from forces on object, motion of end effector
• CPC Class Codes: G05B 2219/40137 Force sensation feedback from simulated tool
• CPC Class Codes: G05B 2219/45118 Endoscopic, laparoscopic manipulator
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders

Abstract

An apparatus for interfacing the movement of a shaft with a computer includes a support, a gimbal mechanism having two degrees of freedom, and three electromechanical transducers. When a shaft is engaged with the gimbal mechanism, it can move with three degrees of freedom in a spherical coordinate space, where each degree of freedom is sensed by one of the three transducers. A fourth transducer can be used to sense rotation of the shaft around an axis. The method includes the steps of defining an origin in 3-dimensional space, physically constraining a shaft in the 3-dimensional space such that a portion of the shaft always intersects the origin and such that a portion of the shaft extending beyond the origin defines a radius in a spherical coordinate system, transducing a first electrical signal related to a first angular coordinate of the radius with a first transducer, transducing a second electrical signal related to a second angular coordinate with a second transducer, transducing a third electrical signal related to the length of the radius with a third transducer, and coupling the transducers to a computer.

Claims

1. A control input device for interfacing the motion of an elongated mechanical object with a computer system comprising:

a support;

a gimbal mechanism having a base portion rotatably coupled to said support to provide a first degree of freedom, and an object receiving portion rotatably coupled to said base portion to provide a second degree of freedom;

a first degree of freedom electromechanical transducer arranged to sense rotation between said support and said base portion;

a second degree of freedom electromechanical transducer arranged to sense rotation between said base portion and said object receiving portion;

a third degree of freedom electromechanical transducer arranged such that when an elongated object is at least partially disposed within said object receiving portion, said third degree of freedom transducer is arranged to transduce motion between said object receiving portion and said elongated object, said third degree of freedom transducer further operable to sense linear displacement of said object with respect to said object receiving portion without causing substantial linear displacement of said object receiving portion with respect to said support; and

a fourth degree of freedom electromechanical transducer arranged such that when said elongated object is at least partially disposed within said object receiving portion, said fourth degree of freedom transducer transduces motion between said object receiving portion and said elongated object, said fourth degree of freedom transducer being a rotational transducer operable to sense rotational motion of said object with respect to said object receiving portion without causing substantial rotational motion in said object receiving portion with respect to said support;

wherein said support, said gimbal mechanism, said object receiving portion, and said electromechanical transducers are arranged such that when said elongated object is at least partially disposed within said object receiving portion, said elongated object is constrained to at most four degrees of freedom of motion with respect to said support, and whereby said transducers are operable to provide an electromechanical interface between said elongated object and a digital processing system.

2. A control input device as recited in claim 1 wherein said base portion rotates around a first axis and said object receiving portion rotates around a second axis that is substantially perpendicular to said first axis, and wherein said elongated object defines a radius in a spherical coordinate system having an origin at an intersection of said first axis and said second axis.

3. A control input device as recited in claim 1 wherein said transducers include at least one actuator which imparts a movement to said object along their respective degree of freedom in response to electrical signals produced by said digital processing system.

4. A control input device as recited in claim 1 further including:

a local microprocessor coupled to said sensors and operable to communicate with said sensors; and

a transceiver coupled to said local microprocessor, said transceiver operable to communicate information between said local microprocessor and a device external to said apparatus coupled with said transceiver.

5. A human/computer interface control input device comprising:

an apparatus for interfacing the motion of an elongated mechanical object as recited in claim 4; and

an external host computer coupled to said transceiver such that said external host computer and said local microprocessor may communicate, said external host computer executing a simulation responsive to communication from said local microprocessor such that a simulated object representing said elongated object within a simulated environment has a simulated position and a simulated orientation correlated to a position and an orientation of said elongated object.

6. A control input device as recited in claim 1 wherein said third degree of freedom transducer includes a translation wheel having a translation wheel axis that is substantially perpendicular to said object axis, said translation wheel contacting a surface of said cylindrical object when said cylindrical object is engaged with said aperture of said receiving portion such that a translation of said cylindrical object along said object axis causes a rotation of said translation wheel.

7. A control input device as recited in claim 6 wherein said translation wheel is coupled to a rotational position sensor which provides, at least in part, said third input electrical signal.

8. A control input device as recited in claim 1 wherein said fourth degree of freedom transducer includes a rotation wheel having a rotation wheel axis which is substantially parallel to said object axis, said rotation wheel being coupled to said cylindrical object to rotate therewith.

9. A control input device as recited in claim 8 wherein said rotation wheel is coupled to a rotational position sensor which provides, at least in part, said fourth input electrical signal.

10. A control input device as recited in claim 8 wherein said rotation wheel contacts a surface of said cylindrical object when said cylindrical object is engaged with said aperture of said receiving portion.

11. A control input device as recited in claim 8 wherein said cylindrical object is provided with an elongated slot substantially parallel to said object axis, and further comprising a sleeve having a bore which forms a portion of said aperture and which has a key which engages said slot of said cylindrical object such that said cylindrical object may translate within said sleeve and such that said sleeve rotates with said cylindrical object, said wheel being coupled to said sleeve for rotation therewith.

12. A control input device as recited in claim 11 wherein said wheel forms a portion of a rotational position sensor which provides, at least in part, stud fourth input electrical signal.

13. A control input device as recited in claim 11 wherein said wheel comprises a sheave, and further including a rotational position sensor having a shaft, said rotational position sensor providing, at least in part, said fourth input electrical signal, and a continuous loop which engages both said sheave and said shaft such that said shaft of said rotational position sensor rotates with said cylindrical object.

14. A control input device for interfacing the motion of an elongated cylindrical mechanical object with a digital processing system comprising:

a support;

a gimbal mechanism including;

a) a U shaped base portion having a base and a pair of substantially parallel legs extending therefrom, wherein said base of said U shaped base portion is rotatably coupled to said support; and

b) an elongated object receiving portion provided with an aperture extending therethrough which defines an object axis for an elongated cylindrical object, where said receiving portion is at least partially disposed between said legs of said U shaped base portion and is pivotally coupled thereto, said receiving portion further including a translation interface and a rotation interface, both disposed proximate to said object axis such that they engage said elongated cylindrical object when it is engaged with said aperture;

wherein said base portion rotates around a first axis and said object receiving portion rotates around a second axis substantially perpendicular to said first axis, and wherein said object axis defines a radius in a spherical coordinate system having an origin at an intersection of said first axis and said second axis;

a first input transducer arranged to transduce motion between said support and said U shaped base portion to produce a first input electrical signal representative of a sensed position of said U shaped base portion relative to said support;

a second input transducer arranged to transduce motion between said U shaped base portion and said object receiving portion to produce a second input electrical signal representative of a sensed position of said object receiving portion relative to said U shaped base portion;

a third input transducer coupled to said translation interface to produce a third input electrical signal representative of a sensed translation of said elongated cylindrical object relative to said object receiving portion without causing substantial translational motion of said object receiving portion with respect to said support; and

a fourth input transducer coupled to said rotation interface and said object to produce a fourth input electrical signal representative of a sensed rotation of said elongated cylindrical object relative to said object receiving portion without causing substantial rotational motion of said object receiving portion with respect to said support.

15. A control input device as recited in claim 14 further comprising:

a first actuator coupled between said support and said U shaped base portion to produce a force on said U shaped base portion with respect to said support in response to a first output electrical signal;

a second actuator coupled between said U shaped base portion and said object receiving portion to produce a movement of said object receiving portion with respect to said U shaped base portion in response to a second output electrical signal; and

a third actuator coupled to said translation interface to produce force along said elongated cylindrical object with respect to said object receiving portion in response to a third output electrical signal actuator coupled to said rotation interface to produce a rotational movement of said elongated cylindrical object with respect to said object receiving portion in response to a fourth output electrical signal.

16. A control input device as recited in claim 15 further comprising a fourth actuator coupled to said rotation interface to produce a rotational movement of said elongated cylindrical object with respect to said object receiving portion in response to a fourth output electrical signal.

17. A method for interfacing movements of an elongated mechanical object with a digital processing system comprising the steps of:

defining an origin in a 3-dimensional space;

physically constraining an elongated object in said 3-dimensional space such that a portion of said object always intersects said origin and such that a portion of said object extending from said origin defines a radius in a spherical coordinate system;

transducing a first electrical signal related to a first angular coordinate of said radius in said spherical coordinate system with a first sensor means;

transducing a second electrical signal related to a second angular coordinate of said radius in said spherical coordinate system with a second sensor means;

transducing a third electrical signal related to the length of said radius with a third sensor means;

transducing a fourth electrical signal related to a rotation of said object around an object axis which intersects said origin with a fourth sensor means; and

electrically coupling said transducers to an electrical system.

18. A method as recited in claim 17 wherein an actuator is arranged to impart force on said object along a degree of freedom which one of said first, second, third, or fourth sensor means senses.

19. A human/computer interface control input device comprising:

an electromechanical interface for interfacing motion of an elongated object with a host computer system, said electromechanical interface including;

a support;

a gimbal mechanism having a base portion rotatably coupled to said support, and an object receiving portion rotatably coupled to said base portion, said elongated object engaged with said object receiving portion, said object having a grip area to be grasped by a hand of an operator;

a first sensor arranged to transduce motion between said support and said base portion, said first sensor having a first output;

a second sensor arranged to transduce motion between said base portion and said object receiving portion, said second sensor having a second output;

a third sensor coupled between said object receiving portion and said object, said third sensor having a third output;

a local microprocessor coupled to said sensors, said local microprocessor operable to receive and process said first, second and third outputs; and

a transceiver coupled to said local microprocessor, said transceiver operable to communicate information between said local microprocessor and a device external to said electromechanical interface coupled with said transceiver;

whereby said first output, said second output, and said third output correspond to three degrees of motion of said elongated object as manipulated by said operator; and

an external host computer coupled to said transceiver such that said external host computer and said local microprocessor may communicate, said external host computer executing a simulation responsive to communication from said local microprocessor such that a simulated object representing said elongated object within a simulated environment has a simulated position and a simulated orientation corresponding to a position and an orientation of said elongated object.

20. A control input device as recited in claim 19 wherein said base portion rotates around a first axis and said object receiving portion rotates around a second axis that is substantially perpendicular to said first axis, and wherein said elongated object defines a radius in a spherical coordinate system having an origin at an intersection of said first axis and said second axis.

21. A control input device as recited in claim 19 further comprising a fourth sensor coupled between said object receiving portion and said elongated object, said fourth sensor having a fourth output coupled to said local microprocessor and corresponding to a fourth degree of motion of said elongated object as it is manipulated by said operator.

22. A control input device as recited in claim 21 wherein said third sensor is a translation sensor, and wherein said fourth sensor is a rotation sensor.

23. A control input device as recited in claim 22 further comprising at least one actuator having an input, said at least one actuator arranged between one of (i) said support and said base portion, (ii) said base portion and said object receiving portion, and (iii) said object receiving portion and said object.

24. A control input device as recited in claim 22 further comprising:

a first actuator coupled between said support and said base portion, said first actuator having a first input;

a second actuator coupled between said base portion and said object receiving portion, said second actuator having a second input;

a third actuator coupled between said object receiving portion said object, said third actuator having a third input;

wherein said first input, said second input, and said third input are coupled to said local microprocessor, and correspond to three degrees of motion of said elongated object as said elongated object exerts a force against said operator'"'"'s grasp.

25. A control input device as recited in claim 24 wherein said first sensor and said first actuator are combined, said second sensor and said second actuator are combined, said third sensor and said third actuator are combined, and said fourth sensor and said fourth actuator are combined.

29. A control input device as recited in claim 19 wherein said simulated object is a surgical tool.

30. A control input device as recited in claim 19 wherein said elongated object represents a portion of a surgical tool handle.

31. A control input device as recited in claim 30 wherein said surgical tool handle is a laparoscopic tool handle.

32. A control input device as recited in claim 31 wherein said elongated object includes a fifth transducer operable to transduce an open-close motion of a manual grip of the laparoscopic tool handle.

33. A control input device as recited in claim 24 wherein said microprocessor is operable to actuate said actuators in response to an appropriate communication from said external host computer.

34. A control input device as recited in claim 24 wherein said first actuator is a motor.

35. A control input device as recited in claim 24 wherein said elongated object represents a portion of a surgical tool handle.

36. A control input device as recited in claim 24 wherein said elongated object represents a portion of a pool cue.

37. A control input device as recited in claim 24 further comprising a fourth actuator coupled between said object receiving portion and said object, said fourth actuator having a fourth input, said fourth input coupled to said local microprocessor and corresponding to a fourth degree of motion of said elongated object as said elongated object exerts a force against said operator'"'"'s grasp.

38. A control input device as recited in claim 33 wherein said external host computer executes commands in response to movement of the elongated object such that a simulation of an interaction between a surgical tool and biological tissue is achieved, whereby the user manipulating said elongated object will feel a force associated with said surgical tool and biological tissue interaction simulation.

39. A control input device as recited in claim 19 wherein the object receiving portion includes a representation of a trocar.

40. A control input device as recited in claim 22 wherein said rotation sensor is engaged by a keyed slot in said elongated object.

41. A control input device as recited in claim 19 wherein said rotation sensor is engaged by frictional contact with said elongated object.

42. A control input device as recited in claim 19 wherein said rotational sensor is engaged by a pulley which is engaged on a sleeve which is also engaged with said elongated object by way of a keyed slot in said elongated object.

43. A control input device apparatus as recited in claim 19 wherein said gimbal mechanism is mounted substantially inside a physical model of a human body.

44. A control input device as recited in claim 19 wherein said transceiver is a serial interface.

45. A control input device as recited in claim 19 wherein said electromechanical interface further includes local memory accessible by said local microprocessor.

46. A control input device as recited in claim 45 wherein said local memory contains programming instructions for enabling communications between said local microprocessor and said external host computer.

47. A control input device as recited in claim 19 wherein said external host computer further includes a computer display coupled therewith and said external host computer is operable to display said simulated environment including said simulated object.

26. A human/computer interface control input device comprising:

an electromechanical interface for interfacing motion of elongated, flexible shafts with a host computer system, said electromechanical interface including;

a shaft receiving portion;

an elongated, flexible shaft engaged with said shaft receiving portion, said flexible shaft having a grip area to be grasped by a hand of an operator;

a first sensor coupled to said shaft receiving portion and a first intermediate portion of said shaft to detect translational movement of said shaft relative to said shaft receiving portion, said first sensor having a first output;

a second sensor coupled to said shaft receiving portion and a second intermediate portion of shaft to detect rotational movement of said shaft relative to said shaft receiving portion, said second sensor having a second output;

a local microprocessor coupled to said sensors, said local microprocessor operable to receive and process said first and second outputs; and

a transceiver coupled to said local microprocessor, said transceiver operable to communicate information between said local microprocessor and a device external to said electromechanical interface coupled with said transceiver;

whereby said first output and second output correspond to two degrees of motion of said elongated object as manipulated by said operator; and

an external host computer coupled to said transceiver such that said external host computer and said local microprocessor may communicate, said external host computer executing a simulation responsive to communication from said local microprocessor such that a simulated object representing said elongated flexible shaft within a simulated environment has a simulated position and a simulated orientation corresponding to a position and an orientation of said flexible shaft.

27. A control input device as recited in claim 26 wherein said electromechanical interface further includes local memory accessible by said local microprocessor.

28. A control input device as recited in claim 26 wherein said flexible shaft is selected from the group consisting of wires and catheters.

48. A control input device for interfacing motion of an elongated object with a host computer system, said control input device including:

a support;

a gimbal mechanism having a base portion rotatably coupled to said support, and an object receiving portion rotatably coupled to said base portion;

a first sensor means arranged to sense motion between said support and said base portion;

a second sensor means arranged to sense motion between said base portion and said object receiving portion;

a third sensor means arranged such that when said elongated object is at least partially disposed within said object receiving portion, said third sensor means is operable to sense linear motion of said elongated object with respect to said object receiving portion;

a local microprocessor coupled to said sensor means, said local microprocessor operable to communicate with said sensor means; and

a transceiver coupled to said local microprocessor, said transceiver operable to transmit information between said local microprocessor and a device external to said electromechanical interface coupled with said transceiver.