Laparoscopic simulation interface

• US 7,460,104 B2
• Filed: 01/26/2005
• Issued: 12/02/2008
• Est. Priority Date: 01/18/1995
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation Delaware
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B.
• Primary Examiner(s): DHARIA, PRABODH M
• Application Number:
  US11/041,992
• Publication Number:
  US 20050162383A1
• Time in Patent Office: 1,406 Days
• Field of Search: 345156-158, 345/161, 345/162, 345/179, 345/184, 318/567, 434/262, 600/1, 600/167, 600/139, 227/175.1, 227/180.1
• US Class Current: 345/156
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A63F 13/21 characterised by their sensors, purposes or types
• CPC Class Codes: A63F 13/235 using a wireless connection, e.g. infrared or piconet
• CPC Class Codes: A63F 13/24 Constructional details thereof, e.g. game controllers with detachable joystick handles
• CPC Class Codes: A63F 13/245 specially adapted to a particular type of game, e.g. steering wheels
• CPC Class Codes: A63F 13/285 Generating tactile feedback signals via the game input device, e.g. force feedback
• CPC Class Codes: A63F 2300/1006 having additional degrees of freedom
• CPC Class Codes: A63F 2300/1031 using a wireless connection, e.g. Bluetooth, infrared connections
• CPC Class Codes: A63F 2300/1037 being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
• CPC Class Codes: A63F 2300/1062 being specially adapted to a type of game, e.g. steering wheel
• CPC Class Codes: A63F 2300/8082 Virtual reality
• CPC Class Codes: G05G 2009/0474 characterised by means converting mechanical movement into electric signals
• CPC Class Codes: G05G 2009/04766 providing feel, e.g. indexing means, means to create counterforce
• CPC Class Codes: G05G 9/047 the controlling member being movable by hand about orthogonal axes, e.g. joysticks for switches H01H25/04
• CPC Class Codes: G05G 9/04737 with six degrees of freedom
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• CPC Class Codes: G06F 3/03545 Pens or stylus
• CPC Class Codes: G06F 3/0383 Signal control means within the pointing device
• CPC Class Codes: G09B 23/28 : for medicine
• CPC Class Codes: G09B 9/28 : Simulation of stick forces or the like

Abstract

An apparatus which comprises a manipulandum that is configured as a surgical instrument; a closed loop linkage system which includes a first central member fixedly coupled to a first object coupling and a second central member fixedly coupled to a second object coupling, wherein the first and second object couplings are separately coupled to the manipulandum to allow the manipulandum to be moveable in a plurality of rotary degrees of freedom and an axial degree of freedom; a force feedback system is coupled to the linkage system, wherein the force feedback system selectively applies resistive forces to the manipulandum based on the position of the manipulandum with respect to one or more reference coordinates. In an embodiment, the force feedback system includes an actuator to provide a force to the manipulandum in at least one degree of freedom in response to signals received from a computer system.

Claims

1. An apparatus comprising:

a manipulandum configured as a surgical instrument;

a closed loop linkage system including a first central member fixedly coupled to a first object coupling and a second central member fixedly coupled to a second object coupling, wherein the first and second object couplings are separately coupled to the manipulandum to allow the manipulandum to be moveable in a plurality of rotary degrees of freedom and an axial degree of freedom;

a force feedback system coupled to the linkage system, wherein the force feedback system selectively applies resistive forces to the manipulandum based on the position of the manipulandum with respect to one or more reference coordinates.

2. The apparatus according to claim 1 wherein the manipulandum includes a grip portion and an elongated portion.

3. The apparatus according to claim 1 wherein the manipulandum is representative of a laparoscopic instrument.

4. The apparatus according to claim 1 wherein the manipulandum is representative of an endoscopic instrument.

5. The apparatus according to claim 1 wherein the manipulandum is representative of a catheter.

6. The apparatus according to claim 1 wherein the manipulandum is representative of a hypodermic needle.

7. The apparatus according to claim 1 wherein the force feedback system further comprises a sensor configured to detect movement of the manipulandum in at least one degree of freedom with respect to the one or more reference coordinates.

8. The apparatus according to claim 1 wherein the force feedback system further comprises an actuator configured to provide a force to the manipulandum in at least one degree of freedom in response to signals received from a computer system.

9. The apparatus according to claim 1 wherein the force feedback system inputs and receives signals from a simulation program in a computer system, the simulation program providing the one or more reference coordinates.

10. The apparatus according to claim 1 further comprising a capstan drive mechanism coupled to the linkage system, the capstan mechanism to facilitate a transmission of the feedback force from an actuator to the linkage system.

11. The apparatus according to claim 10 wherein the capstan mechanism further comprises

a capstan drum;

a pulley coupled to the capstan drum; and

a cable coupled to the capstan drum and in contact with the pulley.

12. The apparatus according to claim 1 wherein the force feedback system further comprises a sensor configured to detect movement of the manipulandum along at least one of the rotary degrees of freedom.

13. The apparatus according to claim 1 wherein the force feedback system further comprises a sensor configured to detect movement of the manipulandum along the axial degree of freedom.

14. A closed loop linkage system of an apparatus adapted to simulate a surgical instrument comprising:

a ground member;

first and second extension members in contact with the ground member;

a first central member coupled to the first extension member at a first end, the first central member including a first object coupling rigidly attached thereto at a second end, wherein the first object coupling is adapted to receive a portion of a manipulandum; and

a second central member coupled to the second extension member at a first end, the second central member including a second object coupling rigidly attached thereto at a second end, wherein the second object coupling is coaxial with the first object coupling and is adapted to receive the portion of the manipulandum,

wherein the linkage system allows the manipulandum to be moveable in a plurality of rotary degrees of freedom and an axial degree of freedom.

15. The linkage system according to claim 14 wherein the manipulandum is representative of a laparoscopic instrument.

16. The linkage system according to claim 14 wherein the manipulandum is representative of an endoscopic instrument.

17. The linkage system according to claim 14 wherein the manipulandum is representative of a catheter.

18. The linkage system according to claim 14 wherein the manipulandum is representative of a hypodermic needle.

19. The linkage system according to claim 14, wherein the linkage system is coupled to a force feedback system, the force feedback system capable of selectively applying resistive forces based on the position of the received manipulandum with respect to one or more reference coordinates.

20. The linkage system according to claim 19 wherein the force feedback system further comprises a sensor adapted to detect movement of the manipulandum in at least one degree of freedom with respect to the one or more reference coordinates.

21. The linkage system according to claim 19 wherein the force feedback system further comprises an actuator adapted to provide a force to the manipulandum in at least one degree of freedom in response to signals received from a computer system.

22. The linkage system according to claim 19 wherein the force feedback system inputs and receives signals from a simulation program in a computer system, the simulation program providing the one or more reference coordinates.

23. The linkage system according to claim 14 further comprising a capstan drive mechanism coupled to the linkage system, the capstan mechanism facilitate a transmission of the feedback force from an actuator to the linkage system.

24. The linkage system according to claim 23 wherein the capstan mechanism further comprises

a capstan drum;

a pulley coupled to the capstan drum; and

a cable coupled to the capstan drum and in contact with the pulley.

25. The linkage system according to claim 19 wherein the force feedback system further comprises a sensor configured to detect movement of the manipulandum along at least one of the rotary degrees of freedom.

26. The linkage system according to claim 19 wherein the force feedback system further comprises a sensor configured to detect movement of the manipulandum along the axial degree of freedom.

27. An apparatus comprising:

a housing having an opening; and

an manipulandum configured to simulate a surgical instrument insertable in the opening, the implement capable of being manipulated axially and rotationally relative to the housing;

a frame assembly to restrict axial movement of the manipulandum along a predetermined axis;

a rotation sensor coupled to the manipulandum, wherein the rotation sensor monitors the axial rotation of the manipulandum relative to the housing;

a position sensor coupled to the manipulandum, wherein the position sensor monitors the axial position of the manipulandum along the predetermined axis;

a cable coupled to the manipulandum; and

a motor coupled to the cable, the motor capable of selectively applying a torque to the cable to apply a resistive force to the manipulandum along the predetermined axis

28. The apparatus according to claim 27 wherein the manipulandum is representative of a laparoscopic instrument.

29. The apparatus according to claim 27 wherein the manipulandum is representative of an endoscopic instrument.

30. The apparatus according to claim 27 wherein the manipulandum is representative of a catheter.

31. The apparatus according to claim 27 wherein the manipulandum is representative of a hypodermic needle.