Medical device and procedure simulation

• US 7,505,030 B2
• Filed: 03/18/2004
• Issued: 03/17/2009
• Est. Priority Date: 03/18/2004
• Status: Active Grant

• Current Assignee: Immersion Medical Inc (Immersion Corporation)
• Original Assignee: Immersion Medical Inc (Immersion Corporation)
• Inventors: Cohen, Robert, Cunningham, Richard L.
• Primary Examiner(s): Awad; Amr
• Assistant Examiner(s): SIM, YONG H
• Application Number:
  US10/803,080
• Publication Number:
  US 20050223327A1
• Time in Patent Office: 1,825 Days
• Field of Search: 345/156, 600/587, 715/701, 703/7, 606/1
• US Class Current: 345/156
• CPC Class Codes: B33Y 80/00 Products made by additive manufacturing
• CPC Class Codes: G09B 23/30 Anatomical models G09B23/281 - G09B23/288 take precedence

Abstract

A device is disclosed that includes an interface member including a material and a manipulandum movable in a degree of freedom. The manipulandum is able to penetrate the material. A sensor is configured to output a position signal based on the position of the manipulandum. An actuator is configured to output haptic feedback by applying a compressive force to the material based on the position signal. In other embodiments, a method is disclosed that includes receiving a position signal associated with a position of a manipulandum, where at least a portion of the manipulandum penetrates the interface material. Haptic feedback is output by varying a density of the interface material based on the position signal.

Claims

1. A device, comprising:

an interface member including a material of selectively variable density, wherein the material includes a first layer having a first density and a second layer having a second density;

a manipulandum movable in a degree of freedom, the manipulandum configured to penetrate the material;

a sensor configured to output a position signal based on the position of the manipulandum; and

an actuator configured to change the density of the material within at least a portion of the interface member in response to the position signal, the actuator configured to change the density of the second layer to be different from the density of the first layer as the manipulandum is moved between the first layer and the second layer, wherein the change in density imparts a haptic effect to the manipulandum.

2. The device of claim 1, wherein the material includes a plurality of compressible beads.

3. The device of claim 1, wherein the material includes a plurality of polystyrene beads.

4. The device of claim 1, wherein the interface member includes a simulated bone structure.

5. The device of claim 1, wherein the actuator is a clamp coupled to the interface member.

6. The device of claim 1, wherein the actuator is a vacuum coupled to the interface member.

7. The device of claim 1, the actuator being a first actuator, the device further comprising a plurality of actuators including the first actuator, each actuator from the plurality of actuators being an individually actuatable clamp.

8. A device, comprising:

a manipulandum movable in a degree of freedom;

a sensor configured to output a position signal based on a position of the manipulandum;

a retainer defining an interior in which a material is disposed, the material configured to receive an object moved by the manipulandum and having a selectively variable density, wherein the material includes a first layer having a first density and a second layer having a second density; and

an actuator coupled to the retainer, the actuator configured to change the density of the material within at least a portion of the interior of the retainer in response to the position signal, the actuator configured to change the density of the second layer to be different from the density of the first layer as the manipulandum is moved between the first layer and the second layer, wherein the change in density of the material imparts a haptic effect to the manipulandum.

9. The device of claim 8, wherein the manipulandum includes a first portion and a second portion, the second portion configured to be removably coupled to the object.

10. The device of claim 8, wherein the manipulandum is configured to move in a rotary degree of freedom about an axis, and move simultaneously along the axis.

11. The device of claim 8, wherein the interface member includes a simulated pedicle of a vertebrae.

12. The device of claim 8, wherein the interface member includes a simulated bone structure.

13. The device of claim 8, wherein the retainer is configured to compress the material in response to actuation of the actuator.

14. The device of claim 8, wherein the retainer is configured to modify a density of the material based on the position signal.

15. The device of claim 8, wherein the retainer is a clamp having an opening, the actuator including a motor configured to modify a size of the opening based on the position signal.

16. The device of claim 8, wherein the manipulandum is a screwdriver and the object is a screw.

17. The device of claim 8, further comprising:

a guide configured to receive at least a portion of the manipulandum, the guide being removably coupled adjacent to the retainer.

18. The device of claim 8, wherein the manipulandum is movable in two degrees of freedom.

19. The device of claim 8, wherein the manipulandum is movable in a rotary degree of freedom and a linear degree of freedom.

20. A method, comprising:

receiving a position signal via a sensor, the position signal associated with a position of a manipulandum, at least a portion of the manipulandum penetrating a material within an interface member, the material having a selectively variable density wherein the material includes a first layer having a first density and a second layer having a second density; and

adjusting the density of the second layer of the material to be different from the density of the first layer of the material within at least a portion of the interface member via an actuator coupled to the sensor, wherein the adjusting of the density imparts a haptic effect onto the manipulandum as the manipulandum is moved between the first layer and the second layer.

21. The method of claim 20, wherein the adjusting the density includes applying a compressive force to the interface material.

22. The method of claim 20, wherein the adjusting the density includes applying a vacuum to the interface material.

23. An interface member for use with a haptic feedback device including a manipulandum movable in a degree of freedom, the interface member configured to be penetrated by the manipulandum, the interface member comprising:

a material portion configured to be penetrated by at least a portion of a manipulandum, the material portion and having a selectively variable density, wherein the material includes a first layer having a first density and a second layer having a second density;

a sensor configured to measure a position of the manipulandum within the material portion and output a position signal associated with the measured position; and

an actuator coupled to the retainer, the actuator configured to change the density of the material portion in response to the position signal, the actuator configured to change the density of the second layer to be different from the density of the first layer as the manipulandum is moved between the first layer and the second layer, wherein the change in density of the material imparts a haptic effect onto the manipulandum.

24. The interface member of claim 23, further comprising a simulated bone structure.

25. The interface member of claim 23, wherein the material portion includes a plurality of compressible beads.

26. The interface member of claim 23, wherein the material portion includes a plurality of polystyrene beads.