Interface apparatus with cable-driven force feedback and grounded actuators

• US 7,056,123 B2
• Filed: 07/15/2002
• Issued: 06/06/2006
• Est. Priority Date: 07/16/2001
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Bailey, David W., Olien, Neil T., Vassallo, Steven P., Gregorio, Pedro
• Primary Examiner(s): Fernstrom, Kurt
• Application Number:
  US10/196,563
• Publication Number:
  US 20030068607A1
• Time in Patent Office: 1,422 Days
• Field of Search: 434/262, 434/265, 434/267, 434/270, 434/271, 434/272, 434/273, 434/274, 434/275
• US Class Current: 434/272
• CPC Class Codes: A61B 2017/00707 Dummies, phantoms; Devices simulating patient or parts of patient
• CPC Class Codes: A61B 2034/741 Glove like input devices, e.g. "data gloves"
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: G05B 2219/40122 Manipulate virtual object, for trajectory planning of real object, haptic display
• 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

A system for providing realistic sensation within a simulation system by providing tactile (haptic) feedback to a user. The system includes an engageable practice tool that the user engages and a mechanical simulation apparatus coupled to the practice tool. The mechanical simulation apparatus includes a ground member, a mechanical linkage rotatably coupled to the ground member, a linear axis member coupled to the practice tool and the mechanical linkage, at least four actuators coupled to the ground member, sensors for sensing movement of the actuators, and at least three cables in contact with the at least four actuators and coupled to the mechanical linkage. An interface device is coupled to the simulation apparatus and a host computer is coupled to the interface device for implementing an application program. The application program provides signals for the actuators to move the cables and thereby move the mechanical linkage.

Claims

1. A system, comprising:

a manipulandum;

a simulation apparatus including a linkage coupled to the manipulandum, the simulation apparatus being one of a simulated body part and configured to be coupled to a simulated body part; and

an interface device coupled to the simulation apparatus and configured to be coupled to a host computer, the linkage configured to move based on a control signal associated with the host computer, the interface device being included within one of the host computer and the simulation apparatus.

2. The system of claim 1, wherein the manipulandum is one of a simulated medical instrument and a medical instrument.

3. The system of claim 1, wherein the interface device includes a microprocessor, the interface device being disposed in the simulation apparatus.

4. The system of claim 1, further comprising a barrier between the simulation apparatus and the manipulandum.

5. The system of claim 1, wherein the manipulandum is configured as a laparoscopic tool including a trocar.

6. The system of claim 1, wherein the manipulandum is configured as one of a catheter, a hypodermic needle, a wire, a fiber optic bundle, a stylus, a joystick, a screw driver, a pool cue and a hand grip.

7. The system of claim 1, wherein the manipulandum is one manipulandum from a plurality of manipulandums.

8. The system of claim 1, wherein the simulation apparatus includes

a ground member;

a linear axis member coupled to the manipulandum and the linkage;

an actuator coupled to the ground member; and

a cable coupled to the at least one actuator and the linkage.

9. The system of claim 1, wherein the simulation apparatus includes

a ground member;

a linear axis member coupled to the manipulandum and the linkage;

at least four actuators coupled to the ground member; and

at least three cables coupled to the at least four actuators and the linkage.

10. The system of claim 9, wherein the at least four actuators include DC motors.

11. The system of claim 8 comprising at least one sensor configured to sense a movement of at least one of the actuator and the linkage.

12. The system of claim 9, further comprising at least four sensors configured to sense a movement of at least one of the at least four actuators and the linkage.

13. A system, comprising:

manipulandum;

a simulation apparatus coupled to the manipulandum, the simulation apparatus comprising;

a ground member;

a linkage rotatably coupled to the ground member;

a linear axis member coupled to the manipulandum and the linkage;

at least four actuators coupled to the ground member;

at least one sensor configured to sense a movement of at least one of the at least four actuators and the linkage; and

at least three cables coupled to the at least four actuators and coupled to the linkage;

an interface device coupled to the simulation apparatus and a host computer, the

host computer configured to output a control signal, the linkage configured to move based on the control signal.

14. The system of claim 13, wherein the manipulandum is one of a simulated medical tool and a medical tool.

15. The system of claim 13, wherein the interface device is included within one of the host computer and the simulation apparatus.

16. The system of claim 13, wherein the interface device is separate from the host computer and the simulation apparatus.

17. The system of claim 13, wherein the at least four actuators include DC motors.

18. The system of claim 13, wherein the interface device includes a microprocessor local to simulation apparatus, the interface device being disposed in the simulation apparatus.

19. The system of claim 13, further comprising a barrier between the simulation apparatus and the manipulandum.

20. The system of claim 13, wherein the manipulandum is configured as a laparoscopic tool including a trocar.

21. The system of claim 13, wherein the practice tool is one of a catheter, hypodermic needle, a wire, a fiber optic bundle, a stylus, a joystick, a screw driver, a pool cue and a hand grip.

22. The system of claim 13, wherein the manipulandum is one manipulandum from a plurality of manipulandums.

23. A method, comprising:

receiving an input signal from a sensor, the signal being associated with at least one of a position of a linkage and an input force applied to the linkage, the linkage being coupled between a ground member of a simulation apparatus and a manipulandum, the simulation apparatus being one of a simulated body part and configured to be coupled to a simulated body part; and

outputting haptic feedback via an actuator, the actuator being one actuator from a plurality of actuators, the haptic feedback being operative to move the linkage via a plurality of cables coupled between the plurality of actuators and the linkage, the haptic feedback based on the input signal and a control signal received from a host computer.