Method and apparatus for interfacing an elongated object with a computer system

• US 6,323,837 B1
• Filed: 03/25/1999
• Issued: 11/27/2001
• Est. Priority Date: 07/14/1994
• Status: Expired due to Term

• Current Assignee: Immersion Medical Inc (Immersion Corporation)
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B.
• Primary Examiner(s): Liang, Regina
• Application Number:
  US09/276,012
• Time in Patent Office: 978 Days
• Field of Search: 345/7, 345/8, 345/161, 345/166, 345/157, 345/156, 345/158, 345/184, 318/567, 318/628, 744/71
• US Class Current: 345/156
• 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, the control input device comprising:

a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user wherein said object receiving portion is moveable in at least two degrees of freedom with respect to a fixed surface;

a transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement; and

control electronics coupled to said transducer, said control electronics reporting a representation of said data received from said transducer to said computer system such that said computer system can update a graphical process in response to said data.

2. A control input device as recited in claim 1, wherein said transducer is a first transducer which senses said linear displacement in a first degree of freedom, and further comprising second and third transducers sensing the motion of said object receiving portion in second and third degrees of freedom, respectively, with respect to said fixed surface.

3. A control input device as recited in claim 2, wherein said second and third transducers output second and third data, respectively, indicative of said motion of said object receiving portion in said two degrees of freedom, wherein said control electronics reports a representation of said second and third data from said second and third transducers to said computer system such that said computer system can update a graphical process in response to said second and third data.

4. A control input device as recited in claim 1 wherein said transducer is an optical encoder that engages said elongated mechanical object via a roller in frictional contact with said elongated mechanical object.

5. A control input device as recited in claim 1 wherein said elongated mechanical object is a pool cue.

6. A control input device as recited in claim 5 wherein said pool cue is engaged by a frictional roller when disposed within said object receiving portion.

7. A control input device as recited in claim 6 wherein said frictional roller is coupled to said transducer such that when said pool cue is translated with respect to said object receiving portion, said transducer transduces the relative linear displacement between said pool cue and said object receiving portion.

8. A control input device as recited in claim 7 further comprising a button manipulatable by a user, said control electronics reporting the state of said button to said computer system such that said computer system can update a graphical process in response to said button state.

9. A control input device as recited in claim 7 wherein said transducer is a first transducer, and further comprising second and third transducers that sense motion of said object receiving portion in said two degrees of freedom with respect to said fixed surface.

10. A control input device as recited in claim 9 wherein said control electronics include a local processor coupled to said first, second, and third transducers and providing a representation of data to said computer system.

11. A control input device as recited in claim 7 wherein said graphical process is a simulation of a three dimensional environment.

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

a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user;

a transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement;

control electronics coupled to said transducer, said control electronics reporting a representation of said data received from said transducer to said computer system such that said computer system can update a graphical process in response to said data; and

a button manipulatable by a user, said control electronics reporting a state of said button to said computer system such that said computer system can update a graphical process in response to said button state.

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

a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user;

a transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement; and

control electronics coupled to said transducer, said control electronics reporting a representation of said data received from said transducer to said computer system such that said computer system can update a graphical process in response to said data, wherein said control electronics includes a local processor that receives said data and provides said data to said computer system.

14. A control input device as recited in claim 13 wherein said transducer is an optical encoder.

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

a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user;

a first transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said first transducer senses linear displacement within said mechanical apparatus of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement, and further comprising a second transducer, said second transducer capable of outputting a force on said elongated mechanical object; and

control electronics coupled to said first transducer, said control electronics reporting a representation of said data received from said first transducer to said computer system such that said computer system can update a graphical process in response to said data.

18. A control input device as recited in claim 15 wherein said user inserts said elongated mechanical object into said object receiving portion to use said control input device.

19. A control input device as recited in claim 15 wherein said control electronics is coupled to said second transducer to control said outputting of said force on said elongated mechanical object.

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

a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user;

a first transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said first transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement, and further comprising a second transducer, said second transducer capable of outputting a force on said elongated mechanical object, wherein said second transducer is a passive brake outputting a frictional resistance force on said elongated mechanical object; and

control electronics coupled to said first transducer, said control electronics reporting a representation of said data received from said first transducer to said computer system such that said computer system can update a graphical process in response to said data.

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

a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user;

a first transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said first transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement, and further comprising a second transducer, said second transducer capable of outputting a force on said elongated mechanical object, wherein said second transducer is a servo motor outputting a force on said elongated mechanical object; and

control electronics coupled to said first transducer, said control electronics reporting a representation of said data received from said first transducer to said computer system such that said computer system can update a graphical process in response to said data.

20. An interface apparatus interfacing the motion of an elongated mechanical object with a computer system, the interface apparatus comprising:

a mechanism including an object receiving portion, said object receiving portion shaped for receiving and engaging said elongated mechanical object physically contacted by and manipulated by a user, wherein said mechanism provides two degrees of freedom to said elongated mechanical object;

a first degree of freedom transducer coupled to said mechanism and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement;

a second degree of freedom transducer coupled to said mechanism and arranged to sense pivotal motion of said elongated mechanical object;

an actuator coupled to said mechanism and outputting a force on said elongated mechanical object in said first degree of freedom; and

an electronic interface coupled to said first degree of freedom transducer, to said second degree of freedom transducer, and to said actuator, said electronic interface reporting a representation of said data received from said transducers to said computer system such that said computer system can update a graphical process in response to said data, and said electronic interface providing electrical signals from said computer system to said actuator to control said force output by said actuator.

21. An interface apparatus as recited in claim 20 wherein said mechanism includes a base portion rotatably coupled to said object receiving portion, wherein said base portion rotates about 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.

22. An interface apparatus as recited in claim 20 further comprising a third degree of freedom transducer coupled to said mechanism and arranged to sense motion of said elongated mechanical object in a third degree of freedom.

23. An interface apparatus as recited in claim 22 further comprising a fourth degree of freedom transducer coupled to said mechanism and arranged to sense motion of said elongated mechanical object in a third degree of freedom.

24. An interface apparatus as recited in claim 20 wherein said first degree of freedom transducer and said actuator are coupled to a translation wheel having a translation wheel axis that is substantially perpendicular to an object axis along which said object displaces, said translation wheel contacting a surface of said elongated object when said elongated object is engaged with said object receiving portion such that a translation of said elongated object along said object axis causes a rotation of said translation wheel.

25. An interface apparatus as recited in claim 20 wherein said actuator is a first actuator, and further comprising a second actuator coupled to said mechanism and outputting a force on said elongated mechanical object in said second degree of freedom.

26. An interface apparatus as recited in claim 20 wherein said elongated mechanical object is a pool cue.

27. A method for interfacing movements of an elongated mechanical object with a computer system, the method comprising:

receiving and engaging said elongated mechanical object with an object receiving portion of a mechanism, said elongated mechanical object being physically contacted by and manipulated by a user;

sensing linear displacement of said elongated mechanical object in a linear degree of freedom with a sensor with respect to said object receiving portion and outputting data indicative of said linear displacement when said elongated mechanical object is at least partially disposed within said object receiving portion, said data being received by said computer system such that said computer system can update a graphical process in response to said data; and

outputting a force on said elongated mechanical object in said linear degree of freedom using an actuator, wherein said force is derived from a signal received from said computer system.

28. A method as recited in claim 27 wherein said sensor is a first sensor, and further comprising sensing rotational movement of said elongated mechanical object in a rotary degree of freedom using a second sensor, and outputting data indicative of said rotational movement to said computer system.

29. A method as recited in claim 28 wherein said actuator is a first actuator, and further comprising outputting a second force on said elongated mechanical object in said rotary degree of freedom using a second actuator, wherein said second force is derived from a second signal received from said computer system.

30. A method as recited in claim 27 wherein said elongated mechanical object is a pool cue.

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

a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user;

a transducer system coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said transducer system senses the relative position of said elongated mechanical object with respect to said object receiving portion in at least two degrees of freedom; and

control electronics coupled to said transducer system, said control electronics reporting a representation of data received from said transducer system to said computer system such that said computer system can update a graphical process in response to said data.

32. A control input device as recited in claim 31 further comprising a transducer capable of outputting a force on said elongated mechanical object in response to data received from said transducer system in each sensed degree of freedom.

33. A control input device as recited in claim 32 wherein said transducer system comprises a first transducer to sense the relative linear position of said elongated mechanical object and a second transducer to sense the relative rotational position of said elongated mechanical object.