User interface device including braking mechanism for interfacing with computer simulations

• US 6,215,470 B1
• Filed: 09/16/1998
• Issued: 04/10/2001
• Est. Priority Date: 07/14/1994
• Status: Expired due to Term

• Current Assignee: Immersion Corporation Delaware
• Original Assignee: Immersion Corporation Delaware
• Inventors: Rosenberg, Louis B., Alarcon, Ramon
• Primary Examiner(s): BRIER, JEFFERY A
• Application Number:
  US09/153,938
• Time in Patent Office: 937 Days
• Field of Search: 345/156-158, 345/161, 345/165, 345/166, 345/184, 318/567-568, 604/264, 434/45, 434/262, 434/267, 434/272
• 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 user interface device for interfacing the motion of a user manipulatable object with a computer system, comprising:

a) a cylindrical user manipulatable object contacted and manipulatable by a user;

b) a coupling provided between said user manipulatable object and a surface that allows translation of said user manipulatable object with respect to said surface;

c) at least one sensor coupled to said user manipulatable object that measures said translation of said object, wherein images are displayed by said computer system in coordination with said translation; and

(d) a brake mechanism applying a frictional resistive force upon said user manipulatable object in response to an electric signal, said brake mechanism applying said frictional resistive force to impede said translation of said user manipulatable object in coordination with said images displayed by said computer system said frictional resistive force being produced by moving a member of said braking mechanism against said cylindrical user manipulatable object and thereby applying a force substantially perpendicular to said translation of said user manipulatable object.

2. A user interface device as recited in claim 1 wherein said brake mechanism includes a solenoid that applies a force upon said user manipulatable object through a frictional pad.

3. A user interface device as recited in claim 1 wherein said user manipulatable object can be moved in two degrees of freedom which include said translational degree of freedom and a rotational degree of freedom.

4. A user interface device as recited in claim 1 further comprising a local microprocessor separate from said computer system, said local microprocessor receiving a sensor signal from said at least one sensor, reporting sensor data based on said sensor signal to said computer systems and controlling said braking mechanism based on commands sent to said local microprocessor from said computer system.

5. A user interface device as recited in claim 1 wherein said cylindrical user manipulatable object is an elongated flexible object.

6. A user interface device as recited in claim 1 wherein said user manipulatable object is at least a portion of a medical instrument.

7. A user interface device as recited in claim 6 wherein said portion of a medical instrument is a portion of a catheter.

8. A user input device for interfacing the motion of a user manipulatable object with a computer system, comprising:

a cylindrical user manipulatable object physically contacted and manipulatable by a user;

a coupling provided between said user manipulatable object and a surface that constrains motion of said user manipulatable object to no more than two degrees of freedom with respect to said surface, said two degrees of freedom including a rotational degree of freedom and a translational degree of freedom;

at least one sensor coupled to said user manipulatable object that measures the motion of said object in said two degrees of freedom and producing a sensor signal, wherein data based on said sensor signal is reported to said computer system to update a displayed simulation provided by said computer system; and

a brake mechanism applying a frictional resistive force upon said user manipulatable object in said translational degree of freedom in response to an electric signal, said brake mechanism applying said frictional resistive force to impede the motion of said user manipulatable object in said translational degree of freedom in coordination with simulated images displayed by said computer system, said frictional resistive force being produced by applying a force to said user manipulatable object substantially perpendicular to said translational degree of freedom using said brake mechanism.

9. A user input device as recited in claim 8 wherein said brake mechanism includes a solenoid.

10. A user input device as recited in claim 9 wherein said solenoid applies a force upon said user manipulatable object through a frictional pad coupled to a moving portion of said solenoid.

11. A user input device as recited in claim 8 wherein said force substantially perpendicular to said translational degree of freedom is applied by linearly moving a member of said brake mechanism against said cylindrical user manipulatable object.

12. A user input device as recited in claim 8 wherein said user manipulatable object is at least a portion of a laparoscopic instrument or a catheter.

13. A user interface device for interfacing the motion of a user manipulatable object with a computer system, comprising:

an elongated user manipulatable object physically contacted and manipulatable by a user;

a coupling provided between said user manipulatable object and a surface that constrains motion of said user manipulatable object to not more than two degrees of freedom with respect to said surface said two degrees of freedom including a translational degree of freedom and a rotational degree of freedom;

at least one position sensor coupled to said user manipulatable object that measures the motion of said object in said two degrees of freedom;

a braking actuator applying a frictional resistive force upon said user manipulatable object in response to an electric signal, said braking actuator applying said frictional resistive force to impede the motion of said user manipulatable object in said translational degree of freedom in coordination with simulated images displayed by said computer system, wherein said frictional resistive force is produced by applying a force to said user manipulatable object substantially perpendicularly to said translational degree of freedom; and

a local microprocessor coupled to said position sensor and to said braking actuator, said local microprocessor interfacing said user interface device to said computer system through a communication link and reporting data to said computer system representing signals from said position sensor, wherein said local microprocessor receives commands from said computer system and controls said braking actuator in response to said commands and in parallel with said computer system executing a graphical simulation.

14. A user interface device as recited in claim 13 wherein said braking actuator includes a solenoid.

15. A user interface device as recited in claim 14 wherein said solenoid applies a force upon said user manipulatable object through a frictional pad coupled to a moving portion of said solenoid.

16. A user interface device as recited in claim 13 wherein said elongated user manipulatable object is a cylindrical object.

17. A user interface device as recited in claim 16 wherein said braking mechanism applies said frictional resistive force upon said cylindrical object by engaging said object with a frictional surface.

18. A user interface device as recited in claim 16 wherein said cylindrical object includes at least a portion of a laparoscopic instrument.

19. A user interface device as recited in claim 16 wherein said cylindrical object includes at least a portion of a catheter.

20. A user interface device as recited in claim 13 wherein said at least one position sensor includes two position sensors, wherein one of said position sensors measures motion in said rotational degree of freedom, and another of said position sensors measures motion in said translational degree of freedom.

21. A user interface device as recited in claim 13 wherein said sensor signals reported to said computer system by said local microprocessor are used by said computer system to control the location of a graphical object displayed by said computer system.

22. A user interface device as recited in claim 21 wherein said graphical object displayed by said computer system is a cursor in a graphical interface.

23. A user interface device as recited in claim 13 wherein said sensor is an optical sensor.