Haptic interface for palpation simulation

• US 7,307,619 B2
• Filed: 04/19/2006
• Issued: 12/11/2007
• Est. Priority Date: 05/04/2001
• Status: Expired due to Fees

• 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:
  US11/407,662
• Publication Number:
  US 20060190823A1
• Time in Patent Office: 601 Days
• Field of Search: 345156-176, 345/184, 345/420, 345/433, 345/700, 345/701, 345/178, 434/262, 434/267, 434268-275, 463/37, 463/38, 318/561, 744/71
• US Class Current: 345/163
• 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 medical simulation apparatus comprising:

a computer mouse adapted to be utilized by a user;

a sensor coupled to the computer mouse, wherein the sensor provides a sensory signal of the computer mouse;

a processor configured to receive the locative signal and update a graphical object associated with operation of the computer mouse, wherein the graphical object is shown on a display, the processor configured to output a first haptic feedback signal when the graphical object is positioned at a designated haptic feedback location on a virtual patient shown on the display; and

an actuator coupled to the computer mouse, the actuator configured to output a first haptic effect upon receiving the first haptic feedback signal.

2. The apparatus of claim 1, wherein the first haptic effect comprises a pulsating sensation.

3. The apparatus of claim 1, wherein the virtual patient includes a graphical representation of at least a portion of a body.

4. The apparatus of claim 1, wherein the computer mouse includes a button and is configured to send a signal to the processor when the button is depressed, the processor outputting a second haptic feedback signal to the actuator in response to receiving the signal, wherein the actuator outputs a second haptic effect.

5. The apparatus of claim 1, wherein the processor outputs an audio signal to an audio output device when the graphical object is at the first designated haptic feedback location.

6. The apparatus of claim 1, wherein the haptic effect is one of a plurality of haptic effect profiles stored in a memory, the haptic effect profiles being downloadable by the processor over a network.

7. The apparatus of claim 1, wherein the processor runs an application program including an instruction to perform a simulated palpation procedure.

8. The apparatus of claim 1, wherein the first haptic effect simulates a three dimensional contour of the haptic feedback location.

9. A computer executable processing algorithm configured to perform a method comprising:

receiving a sensory signal associated with operation of a computer mouse;

running a host program displaying a virtual patient on a display screen, wherein a graphical location on the virtual patient is designated a haptic feedback location;

updating a graphical object on the display screen in response to the sensory signal, wherein the graphical object is associated with the computer mouse; and

outputting a haptic feedback signal to an actuator coupled to the computer mouse to output a haptic effect when the graphical object is at the haptic feedback location.

10. The method of claim 9, wherein the haptic effect further comprises a pulsating sensation.

11. The method of claim 9, wherein the virtual patient includes a graphical representation of at least a portion of a body.

12. The method of claim 9, further comprising:

sending a signal to the processor when a button of the computer mouse is depressed; and

outputting a second haptic feedback signal to the actuator in response to receiving the signal, wherein the actuator outputs a second haptic effect.

13. The method of claim 9, further comprising outputting a sound signal when the graphical object is at the haptic feedback location.

14. The method of claim 9, wherein the haptic effect is one of a plurality of haptic effect profiles stored in a memory, the haptic effect profiles being downloadable by the processor over a network.

15. The method of claim 9, wherein the haptic effect simulates a three dimensional contour of the haptic feedback location.

16. A method of operating a medical simulation apparatus comprising:

receiving a sensory signal associated with operation of a computer mouse;

running a host program displaying a virtual patient on a display screen, wherein a graphical location on the virtual patient is designated a haptic feedback location;

updating a graphical object on the display screen in response to the sensory signal, wherein the graphical object is associated with the computer mouse; and

outputting a haptic feedback signal to an actuator coupled to the computer mouse to output a haptic effect when the graphical object is at the haptic feedback location.

17. The method of claim 16, wherein the haptic effect further comprises a pulsating sensation.

18. The method of claim 16, wherein the virtual patient includes a graphical representation of at least a portion of a body.

19. The method of claim 16, further comprising:

sending a signal to the processor when a button of the computer mouse is depressed; and

outputting a second haptic feedback signal to the actuator in response to receiving the signal, wherein the actuator outputs a second haptic effect.

20. The method of claim 16, further comprising outputting an audio signal to an audio output device when the graphical object is at the haptic feedback location.

21. The method of claim 16, wherein the haptic effect is one of a plurality of haptic effect profiles stored in a memory, the haptic effect profiles being downloadable by the processor over a network.

22. The method of claim 16, wherein the haptic effect simulates a three dimensional contour of the haptic location.