Haptic interface for palpation simulation

• US 7,202,851 B2
• Filed: 05/04/2001
• Issued: 04/10/2007
• Est. Priority Date: 05/04/2001
• Status: Expired due to Term

• Current Assignee: Immersion Medical Inc (Immersion Corporation)
• Original Assignee: Immersion Medical Inc (Immersion Corporation)
• Inventors: Cohen, Robert F., Feldman, Philip G., Dumas, Russell H., Cunningham, Richard L., Merril, Gregory L., Tasto, Joseph L.
• Primary Examiner(s): Patel; Nitin
• Application Number:
  US09/848,966
• Publication Number:
  US 20020163497A1
• Time in Patent Office: 2,167 Days
• Field of Search: 345/156, 345/158, 345157-176, 345/160, 345/173, 345/161, 345/123, 345/124, 345/163, 345/184, 345/420, 345/433, 345/700, 345/701, 345/702, 345/164, 345/165, 345/178, 341/27, 178/18.01, 178/18.02, 178/18.03, 178/18.09, 318/561, 434/262, 434/267, 434268-275
• US Class Current: 345/156
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/03543 Mice or pucks G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• CPC Class Codes: G06F 3/04812 Interaction techniques based on cursor appearance or behaviour, e.g. being affected by the presence of displayed objects

Abstract

A palpation simulator comprises an interface for interfacing a user with a computer running a palpation simulation. The computer generates a graphical environment comprising a cursor and a graphical representation of at least a portion of a living body. In one version, a method comprises providing an object in communication with the computer, controlling the cursor in relation to manipulation of at least a portion of the object by the user, and outputting a haptic sensation to the user when the cursor interacts with a region within the graphical representation to provide the user with haptic feedback related to a simulated palpation of the region.

Claims

1. A method, comprising:

updating data values associated with at least a portion of a virtual hand displayed in a graphical environment of a host computer based on manipulation of at least a portion of an object coupled to the host computer, the portion of the virtual hand directly contacting a virtual body part to produce a virtual palpation within the graphical environment;

outputting a first haptic feedback to the object when the virtual palpation within the graphical environment occurs; and

outputting a second haptic feedback the second haptic feedback being a scaled version of the first haptic feedback.

2. The method of claim 1,

wherein the second haptic feedback is associated with a position of the virtual hand in a second region of the graphical environment.

3. The method of claim 1, wherein the first haptic feedback simulates a-heartbeat-induced vascular pulse.

4. The method of claim 1, wherein the first haptic feedback is associated with a simulated feature that is at least one of on the surface of the region within the graphical environment and below the surface of the region within the graphical environment, and second haptic feedback is associated with a simulated feature that is at least one of on the surface of the region within the graphical environment and below the surface of the region within a second region of the graphical environment.

5. The method of claim 1, wherein the first haptic feedback includes a vibration.

6. The method of claim 1, wherein the first haptic feedback includes a spring force.

7. The method of claim 1, wherein the object includes a mouse.

8. The method of claim 7, wherein the mouse includes an actuator coupled to a housing and the outputting of the first and second haptic feedback includes outputting the first and second haptic feedback via the actuator.

9. The method of claim 8, wherein the first haptic feedback is configured to simulate a heartbeat-induced vascular pulse.

10. The method of claim 7, the mouse further comprising a grounded linkage.

11. The method of claim 10, wherein the outputting first haptic feedback includes outputting the first haptic feedback via the grounded linkage.

12. The method of claim 4, wherein the host computer includes an application program which comprises the steps of:

creating the graphical representation of the virtual body part;

moving the virtual hand relative to the virtual body part in response to input from a manipulatable object; and

outputting a feedback based on interaction of the portion of the virtual hand with a region within the virtual body part.

13. The method of claim 12, wherein the feedback may be visual, audible or haptic feedback.

14. The method of claim 12, wherein the interaction of the portion of the virtual hand with a region within the virtual body part is a predetermined interaction.

15. The method of claim 12, wherein the feedback simulates a heartbeat-induced vascular pulse of the virtual body part.

16. The method of claim 15, wherein the simulation of the heartbeat-induced vascular pulse may have variable parameters.

17. The method of claim 12, wherein the virtual appendage has a shape different from the shape of the object.

18. The method of claim 1, wherein the virtual hand has a shape different from the shape of the object.

19. A method, comprising:

updating data values associated with at least a portion of a virtual hand displayed in a graphical environment of a host computer based on manipulation of at least a portion of an object coupled to the host computer;

outputting a first haptic feedback to the object based on a first signal associated with an interaction of the portion of the virtual hand with a graphical representation of a virtual being, the graphical representation of the virtual being having a first region and a second region different from the first region and the first haptic feedback being a simulated pulse of the virtual being; and

outputting a second haptic feedback based on a signal associated with an interaction of the portion of the virtual hand with the second region of the graphical representation.

20. The method of claim 19, wherein the second haptic feedback is a scaled version of the first haptic feedback.

21. The method of claim 19, wherein the first haptic feedback includes a vibration.

22. The method of claim 21, wherein the first haptic feedback includes a substantially sinusoidal waveform.

23. The method of claim 19, wherein the object includes a mouse having an actuator coupled to a housing, the outputting the first and second haptic feedback includes outputting the first and second haptic feedback via the actuator.

24. The method of claim 19, wherein the virtual hand has a shape different from the shape of the object.

25. A method, comprising:

updating data values associated with at least a portion of a virtual appendage displayed in a graphical environment of a host computer based on manipulation of at least a portion of an object coupled to the host computer, the portion of the virtual appendage directly contacting a virtual subject to produce a virtual palpation of the virtual subject within the graphical environment; and

outputting a first haptic feedback to the object based on interaction of the portion of the virtual appendage with a graphical representation of the virtual subject within the graphical environment, the first haptic feedback simulating a palpated feature that is one of on and below a surface of the graphical representation of the virtual subject; and

outputting a second haptic feedback to the object based on interaction of the portion of the virtual appendage with a graphical representation of the virtual subject within the graphical environment, the second haptic feedback simulating a palpated feature that is one of on and below a surface of the graphical representation of the virtual subject.

26. The method of claim 25, wherein the application program includes a palpation training program including an instruction to perform a simulated palpation procedure.

27. The method of claim 25, wherein the first haptic feedback includes a spring force.

28. The method of claim 25, wherein the object includes a mouse.

29. The method of claim 28, wherein the mouse includes a grounded linkage.

30. The method of claim 29, wherein the outputting first haptic feedback includes outputting the first haptic feedback via the grounded linkage.

31. The method of claim 28, the mouse including at least one of a force detector and pressure detector, the method further comprising detecting at least one of a force and a pressure.

32. The method of claim 31, wherein the outputting the first haptic feedback is associated with the detected at least one of the force and the pressure.

33. The method of claim 31, wherein the outputting the second haptic feedback is associated with the detected at least one of the force and the pressure.

34. The method of claim 25, wherein the simulated palpated feature is simulated as physically below the graphical representation.

35. The method of claim 25, wherein the first haptic feedback simulates a three dimensional contour of the graphical representation.

36. The method of claim 35, wherein the object is substantially constrained to movement in a geometric plane.

37. The method of claim 25, wherein the second haptic feedback simulates a three dimensional contour of the graphical representation.

38. The method of claim 37, wherein the object is substantially constrained to movement in a geometric plane.

39. A simulator, comprising:

a manipulatable object in communication with a processor, the processor associated with a graphical representation of at least a portion of a virtual subject;

a sensor coupled to the manipulatable object and in communication with the processor, the sensor configured to update data values associated with at least a portion of a virtual appendage in the graphical representation based on a manipulation of the manipulatable object;

an actuator coupled to the manipulatable object and configured to output haptic feedback based on interaction of the portion of the virtual appendage with a region within the graphical representation, the haptic feedback simulating a heartbeat-induced vascular pulse of the virtual subject; and

the manipulatable object includes a housing of a mouse.

40. The simulator of claim 39, the actuator being coupled to the housing of the mouse, the actuator configured to output the haptic feedback.

41. The simulator of claim 39, wherein the object includes a mouse.

42. The simulator of claim 41, wherein the mouse includes a grounded linkage.

43. The simulator of claim 42, the actuator being configured to cause the grounded linkage to output the haptic feedback.

44. A program storage device readable by a machine, tangibly embodying a program of instructions executable by the machine to perform a method for updating data values associated with at least a portion of a virtual appendage displayed in a graphical environment of a host computer and outputting a first and second haptic feedback to an object coupled to the host computer, the method including:

updating data values associated with at least a portion of a virtual appendage displayed in a graphical environment of a host computer based on manipulation of at least a portion of an object coupled to the host computer;

producing a virtual palpation of the virtual subject within the graphical environment when the portion of the virtual appendage directly contacts a virtual subject part;

outputting a first haptic feedback to the object based on interaction of the portion of the virtual appendage with a graphical representation of the virtual subject within the graphical environment, the first haptic feedback simulating a palpated feature that is one of on and below a surface of the graphical representation of the virtual subject; and

outputting a second haptic feedback to the object based on interaction of the portion of the virtual appendage with a graphical representation of the virtual subject within the graphical environment, the second haptic feedback simulating a palpated feature that is one of on and below a surface of the graphical representation of the virtual subject.