Control input device for interfacing an elongated flexible object with a computer system

• US 5,821,920 A
• Filed: 03/28/1997
• Issued: 10/13/1998
• Est. Priority Date: 07/14/1994
• Status: Expired due to Term

• Current Assignee: Immersion Medical Inc (Immersion Corporation)
• Original Assignee: Immersion Human Interface Corporation
• Inventors: Alarcon, Ramon, Rosenberg, Louis B.
• Primary Examiner(s): BRIER, JEFFERY A
• Application Number:
  US08/825,412
• Time in Patent Office: 564 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, 128/847, 128/662.06, 74/471, 434/45, 434/262, 434/272, 463/30, 463/38, 395/99
• US Class Current: 345/156
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• 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: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas

Abstract

An apparatus for interfacing an elongated flexible object with an electrical system. The apparatus includes an object receiving portion and a rotation transducer coupled to the object receiving portion adapted to determine the rotational motion of the elongated flexible object when the object is engaged with the object receiving portion and to provide an electromechanical interface between the object and the electrical system. In a preferred embodiment, the rotation transducer includes an actuator and translational transducer to provide a translational electromechanical interface between the object and the electrical system.

Claims

1. A control input device for interfacing the motion of an elongated flexible object capable of translation and rotation with a computer system, comprising:

a) an object receiving portion engaging said elongated flexible object such that motion of said elongated flexible object with respect to said object receiving portion is constrained to translational motion with respect to said object receiving portion and rotational motion with respect to said object receiving portion;

b) a translation transducer coupled to said object receiving portion, said translation transducer adapted to determine translational motion of said elongated flexible object with respect to said object receiving portion;

c) a rotation transducer coupled to said object receiving portion, said rotation transducer adapted to determine rotational motion of said elongated flexible object with respect to said object receiving portion;

d) an actuator coupled to said object receiving portion, said actuator operable to apply a resistive force opposing motion of said elongated flexible object with respect to said object receiving portion, said actuator responsive to control signals from said computer system; and

e) a simulation executed on said computer system including a simulated object subject to virtual forces within a simulated environment, a location of said simulated object within said simulated environment being modified in accordance with signals derived from said translation transducer and said rotation transducer, said simulation operable to control said actuator such that forces applied to said elongated object correspond to said virtual forces that said simulated object is subjected to in said simulated environment,

whereby said translation transducer, said rotation transducer, said actuator and said object receiving portion provide an electromechanical interface between said elongated flexible object and said computer system such that a user manipulating said elongated object will experience an interaction corresponding to an interaction of said simulated object with said simulated environment.

2. A control input device as recited in claim 1, further comprising:

a) a support; and

b) a gimbal mechanism having a base wherein a first portion of said base is rotatably coupled to said support, and a second portion of said base is rotatably coupled to said object receiving portion such that the directions of rotation of said base and said object receiving portion are substantially orthogonal.

3. A control input device as recited in claim 2 wherein said gimbal mechanism further includes first and second rotational sensors, said first rotational sensor arranged to sense a rotation of said base with respect to said support and said second rotational sensor arranged to sense a rotation of said base with respect to said object receiving portion.

4. A control input device as recited in claim 1, wherein said translation transducer comprises a sensor wheel in frictional contact with said elongated flexible object.

5. A control input device as recited in claim 4, wherein said translation transducer includes an optical encoder.

6. A control input device as recited in claim 4, wherein said translation transducer includes a potentiometer.

7. A control input device as recited in claim 1 further including a first electronically modulated actuator coupled to said object receiving portion, said first electronically modulated actuator adapted to engage said elongated flexible object.

8. A control input device as recited in claim 7, wherein said first electronically modulated actuator is operable to generate frictional drag on said elongated flexible object in response to an electrical signal, said frictional drag resisting transitional motion of said object with respect to said object receiving portion.

9. A control input device as recited in claim 8, wherein said first electronically modulated actuator is a solenoid.

10. A control input device as recited in claim 8, wherein said first electronically modulated actuator is a motor.

11. A control input device as recited in claim 1 wherein said rotation transducer comprises an encoded disk, said encoded disk formed such that an aperture exists at a geometric center of said encoded disk, said aperture arranged to receive and engage said elongated flexible object such that a rotation of said flexible elongated object causes rotation of said encoded disk about said geometric center.

12. A control input device as recited in claim 11 further comprising a hollow shaft coupled to said encoded disk, said hollow shaft being arranged to engagedly receive said elongated flexible object.

13. A control input device as recited in claim 12, wherein said hollow shaft defines a path for said elongated flexible object including at least one bend therein, said bend having a radius defined to enhance an engagement between said elongated flexible object and said hollow shaft.

14. A control input device as recited in claim 13 wherein said hollow shaft is formed having two bends in substantially opposing directions.

15. A control input device as recited in claim 11 wherein said aperture is keyed.

16. A control input device as recited in claim 11 wherein said elongated flexible object has a flat portion.

17. A control input device as recited in claim 11 wherein a first end of a hollow shaft is rigidly fixed to said encoded disk at said geometric center, said hollow shaft arranged to secure said flexible object and further to guide said flexible object through said aperture of said encoded disk.

18. A control input device as recited in claim 17 wherein said flexible object is allowed to buckle to accommodate translation of a free end of said flexible elongated object with respect to said first end of said hollow shaft which is fixed to said encoded disk.

19. A control input device as recited in claim 1 further including a simulation executed on said computer system including a simulated object within a simulated environment, a location of said simulated object within said simulated environment being modified in accordance with signals derived from said translation transducer.

20. A control input device as recited in claim 19 wherein said simulated object is displayed graphically on a video display.

21. A control input device as recited in claim 20 wherein said simulated object is a medical instrument.

22. A control input device as recited in claim 21 wherein said medical instrument includes a catheter.

23. A control input device as recited in claim 21 wherein said medical instrument includes a needle.

24. A control input device as recited in claim 20, wherein said simulated object represents a medical instrument and said simulated environment represents biological tissue, said actuator operable to generate resistance on said flexible elongated object in response to a command from said computer system in accordance with a simulated interaction between said medical instrument and said representation of biological tissue.

25. A control input device as recited in claim 12 wherein said medical instrument includes a catheter and said representation of biological tissue includes a vascular organ such as a vein or and artery.

26. A control input device as recited in claim 1 wherein said rotation transducer is engaged by a frictional contact with said elongated flexible object.

27. A control input device as recited in claim 1 wherein said object receiving portion is mounted substantially inside a model of a human body.

28. A control input device for interfacing the motion of a human manipulated elongated flexible object, said control input device operable for providing force feedback sensations to a user manipulating said elongated flexible object, comprising:

a) a support;

b) an object receiving portion engaging said elongated flexible object such that rotational and translational motion of said elongated flexible object with respect to said object receiving portion is possible;

c) a gimbal mechanism coupling said support to said object receiving portion, said gimbal mechanism providing two rotary degrees of freedom of motion of said object receiving portion with respect to said support;

d) an actuator coupled to said object receiving portion, said actuator adapted to engage said elongated flexible object, said actuator operable to apply a resistive force opposing motion of said elongated flexible object, said actuator responsive to control signals from said computer system;

e) a translation transducer coupled to said object receiving portion, said translation transducer adapted to determine translational motion of said elongated flexible object with respect to said object receiving portion, said translation transducer electrically coupled with said computer system; and

f) a rotation transducer coupled to said object receiving portion to determine rotational motion of said elongated flexible object, said rotation transducer including an encoded disk having an aperture adapted to receive said elongated flexible object, said rotation transducer electrically coupled with said computer system;

whereby said support, said gimbal mechanism, said object receiving portion, said actuator and said translation and rotation transducers provide an electromechanical interface between said human manipulated elongated flexible object and said computer system, said electromechanical interface enabling software executing on said computer system to monitor motion of said elongated flexible object engaged with said object receiving portion in four degrees of freedom with respect to said support and further enabling said software to command force feedback sensations to said user through said elongated flexible object.

29. A control input device as recited in claim 30, wherein said hollow shaft comprises two bends in substantially opposing directions and three substantially parallel sections.

30. A control input device as recited in claim 28, wherein said rotation transducer further includes a hollow shaft dimensioned to engagably receive said elongated flexible object, said hollow shaft formed such that said hollow shaft defines a path having at least one bend.

31. A control input device as recited in claim 30, wherein:

a) said actuator provides a frictional resistance to motion in the direction of translation of said elongated flexible object in response to electrical signals from computer system;

b) said translation transducer senses positions of said elongated flexible object along the direction of translation and produces electrical signals corresponding to said positions for said computer system; and

c) said rotation transducer senses positions of said elongated flexible object along the direction of rotation of said elongated flexible object and produces electrical signals corresponding to said positions for said computer system.

32. A control input device as recited in claim 31, wherein said rotation transducer has an axis of rotation which is substantially parallel to said direction of translation, and said rotation transducer is coupled to a rotational position sensor which provides, at least in part, electrical signals for said computer system.

33. A control input device as recited in claim 31 wherein said translation transducer is a first translation transducer and said actuator is a first actuator, said apparatus further including:

a) a second actuator coupled to said support, said second actuator adapted to engage said elongated flexible object; and

b) a second translation transducer coupled to said support, said second translation transducer adapted to determine motion of said elongated flexible object along the direction of translation of said elongated flexible object;

wherein said second actuator and said second translation transducer are disposed between said first actuator, said first translation transducer and said rotation transducer.

34. A control input device as recited in claim 30, wherein said actuator is a solenoid and said translation transducer includes a translation wheel having a translation wheel axis that is substantially perpendicular to the direction of translation of said elongated flexible object, said translation wheel contacting a surface of said elongated flexible object such that translation of said object causes rotation of said wheel.

35. A control input device as recited in claim 34, wherein said translation wheel is coupled to a rotational position sensor which provides, at least in part, electrical signals for said computer system.

36. A human/computer interface control input device, comprising:

a) a shaft receiving portion;

b) a support attached to said shaft receiving portion such that motion of said shaft receiving portion with respect to said support is constrained to at most two degrees of freedom;

c) an elongated, flexible shaft engaged with said shaft receiving portion such that motion of said flexible shaft with respect to said support is constrained to at most four degrees of freedom, said flexible shaft having a grip area to be grasped by the hand of an operator;

d) a first sensor coupled to said shaft receiving portion and engaging said shaft at a first intermediate portion of said shaft to detect translational movement of said shaft relative to said shaft receiving portion without causing substantial translational motion of said shaft receiving portion, said first sensor having a first output;

e) a second sensor coupled to said shaft receiving portion and engaging said shaft at a second intermediate portion of said shaft to detect rotational movement of said shaft relative to said shaft receiving portion, said second sensor including an encoded disk having an aperture dimensioned to receive said elongated flexible shaft, and

f) a force feedback device coupled to said shaft receiving portion and said elongated flexible shaft, said force feedback device operable to resist motion of said elongated flexible shaft,

whereby said shaft receiving portion, said first sensor, said second sensor, and said force feedback device provide an electromechanical interface suitable for controlling said elongated flexible shaft in a manner suitable for an intended operation of said elongated flexible shaft.

37. A control input device as recited in claim 36 wherein said flexible shaft is selected from the group consisting of wires and catheters.

38. A control input device as recited in claim 36, wherein said shaft receiving portion comprises at least two substantially parallel sections.

39. A control input device as recited in claim 36, wherein said shaft receiving portion comprises two bends in substantially opposing directions and three substantially parallel sections.

40. A human/computer interface control input device as recited in claim 36 wherein said second sensor further includes a hollow shaft coupled with said encoded disk, said hollow shaft being dimensioned to engagedly receive said elongated flexible shaft.

41. A human/computer interface control input device as recited in claim 40 wherein said hollow shaft is formed to define a path having at least one bend therein.

42. A control input device for interfacing the motion of a plurality of elongated flexible objects capable of translation and rotation with a computer system, comprising:

a) an object receiving portion engaging a particular elongated flexible object such that motion of said particular elongated flexible object with respect to said object receiving portion is constrained to translational motion with respect to said object receiving portion and rotational motion with respect to said object receiving portion;

b) a translation transducer coupled to said object receiving portion, said translation transducer adapted to determine translational motion of said particular elongated flexible object with respect to said object receiving portion;

c) a plurality of transducers arranged to interface with said plurality of flexible elongated objects at least one of which is hollow thereby enabling a second flexible elongated object to pass therethrough, said plurality of transducers being staggered at incremental distances from one another such that said plurality of transducers may engage interior flexible elongated objects when said interior flexible elongated objects emerge from within other flexible elongated objects; and

d) an actuator coupled to said particular object receiving portion, said actuator operable to apply a resistive force opposing motion of said particular elongated flexible object with respect to said object receiving portion, said actuator responsive to control signals from said computer system;

e) a simulation executed on said computer system including a simulated object subject to virtual forces within a simulated environment, a location of said simulated object within said simulated environment being modified in accordance with signals derived from said translation transducer and said plurality of transducers, said simulation operable to control said actuator such that forces applied to said elongated object correspond to said virtual forces that said simulated object is subjected to in said simulated environment

whereby said object receiving portion, said translation transducer, and said plurality of transducers arranged to interface with a plurality of elongated objects provide an electromechanical interface controlling said elongated flexible object such that said motion of said elongated object is suitable for interfacing with said computer system.

43. A control input device as recited in claim 42 wherein said plurality of transducers comprise sensored wheels in frictional contact with said elongated flexible objects.

44. An apparatus as recited in claim 42 wherein, said actuator is one of a multiplicity of electronically modulated actuators coupled to said object receiving portion, each of said actuators adapted to engage the outer surface of one of said plurality of flexible elongated objects, a first of said actuators being positioned to engage an outer surface of an outermost flexible elongated object, each remaining one of said plurality of actuators being staggered at incremental distances from one another such that said plurality of actuators may engage an interior flexible elongated object when said interior flexible object emerges from within another flexible elongated object.

45. A control input device as recited in claim 44, wherein said actuators generate frictional drag on said plurality of elongated flexible object in response to electrical signals, said frictional drag being resistant to transitional motion of said object with respect to said object receiving portion.

46. A control input device as recited in claim 42 wherein said plurality of flexible elongated objects represent medical tools.

47. A control input device as recited in claim 46 wherein said medical tools are catheters.

48. A control input device as recited in claim 42 wherein an outermost flexible elongated object represents a needle and an interior flexible elongated object represents a catheter.

49. A control input device for interfacing the motion of an elongated flexible object capable of translation and rotation with a computer system, comprising:

a) an object receiving portion; and

b) a rotation transducer coupled to said object receiving portion, said translation transducer adapted to determine rotational motion of said elongated flexible object without causing substantial rotational motion of said object receiving portion;

whereby said rotation transducer provides an electromechanical interface between said elongated flexible object and said computer system.

50. A control input device as recited in claim 49, wherein said rotation transducer comprises a disk, said disk including an aperture dimensioned to receive said elongated flexible object;

and a hollow shaft coupled with said disk, said hollow shaft being dimensioned to engagedly receive said elongated flexible object, and said hollow shaft defining a path including at least one bend therein.

51. A control input device as recited in claim 50, wherein said hollow shaft comprises at least two substantially parallel sections.

52. A control input device as recited in claim 50, wherein said hollow shaft comprises two bends in substantially opposing directions and three substantially parallel sections.

53. A control input device as recited in claim 50 further including an actuator coupled to said object receiving portion, said actuator adapted to engage said elongated flexible object.

54. A control input device as recited in claim 53, further including a translation transducer coupled to said object receiving portion, said translation transducer adapted to determine translational motion of said elongated flexible object.

55. A control input device as recited in claim 54, wherein said electrical system comprises a digital processing system.

56. A control input device as recited in claim 55, wherein:

a) said actuator provides a force to said elongated flexible object in response to electrical signals from said digital processing system, said force being applied in a direction substantially perpendicular to the direction of translation of said elongated flexible object;

b) said translation transducer senses positions of said elongated flexible object along the direction of translation of said elongated flexible object and produces electrical signals corresponding to said positions for said digital processing system; and

c) said rotation transducer senses positions of said elongated flexible object along the direction of rotation of said elongated flexible object and produces electrical signals corresponding to said positions for said digital processing system.

57. A control input device for interfacing the motion of a human manipulated elongated flexible object having at least first and second degrees of freedom with an electrical system, comprising:

a) a support;

b) a gimbal mechanism having a base wherein a first portion of said base is rotatably coupled to said support and a second portion of said base is rotatably coupled to an object receiving portion such that said base can be rotated in a first direction relative to said support and said object receiving portion can be rotated in a second direction relative to said base;

c) an actuator coupled to said object receiving portion, said actuator adapted to engage said elongated flexible object;

d) a translation transducer coupled to said object receiving portion, said translation transducer adapted to determine translational motion of said elongated flexible object without causing substantial translational motion of said object receiving portion;

e) a rotation transducer coupled to said object receiving portion to determine rotational motion of said elongated flexible object, said rotation transducer including;

i) a disk, said disk including an aperture adapted to receive said elongated flexible object, and

ii) a hollow shaft coupled with said disk, said hollow shaft being dimensioned to engagedly receive said elongated flexible object, and said hollow shaft defining a path including at least one bend therein;

whereby said actuator and said translation and rotation transducers provide an electromechanical interface between a human manipulated elongated wire-like object and said electrical system.

58. A control input device as recited in claim 57, wherein said hollow shaft comprises at least two substantially parallel sections.

59. A control input device as recited in claim 57, wherein said hollow shaft comprises two bends in substantially opposing directions and three substantially parallel sections.

60. A control input device as recited in claim 57, wherein said electrical system comprises a digital processing system.

61. A control input device as recited in claim 60, wherein:

a) said actuator provides a force perpendicular to the direction of translation of said elongated flexible object in response to electrical signals from said digital processing system;

b) said translation transducer senses positions of said elongated flexible object along the direction of translation and produces electrical signals corresponding to said positions for said digital processing system; and

c) said rotation transducer senses positions of said elongated flexible object along the direction of rotation of said elongated flexible object and produces electrical signals corresponding to said positions for said digital processing system.

62. A human/computer interface apparatus, comprising:

a) a shaft receiving portion;

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

c) a first sensor coupled to said shaft receiving portion at a first intermediate portion of said shaft to detect translational movement of said shaft relative to said shaft receiving portion without causing substantial translational motion of said shaft receiving portion, said first sensor having a first output; and

d) a second sensor coupled to said shaft receiving portion at a second intermediate portion of said shaft receiving portion to detect rotational movement of said shaft relative to said shaft receiving portion, said second sensor including;

i) a disk, said disk including an aperture dimensioned to receive said elongated flexible shaft, and

ii) a hollow shaft coupled with said disk, said hollow shaft being dimensioned to engagedly receive said elongated flexible shaft, said hollow shaft defining a path including at least one bend therein.

63. A control input device as recited in claim 62, further comprising a first actuator coupled to said shaft receiving portion to impart a translational force on said shaft.

64. A control input device as recited in claim 62 wherein said flexible shaft is selected from the group consisting of wires and catheters.

65. A control input device as recited in claim 62, wherein said hollow shaft comprises at least two substantially parallel sections.

66. A control input device as recited in claim 62, wherein said hollow shaft comprises two bends in substantially opposing directions and three substantially parallel sections.