Physically realistic computer simulation of medical procedures

• US 7,573,461 B2
• Filed: 03/19/2007
• Issued: 08/11/2009
• Est. Priority Date: 07/14/1994
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B.
• Primary Examiner(s): Liang; Regina
• Application Number:
  US11/725,958
• Publication Number:
  US 20070171200A1
• Time in Patent Office: 876 Days
• Field of Search: 345156-158, 345/161, 345/166, 345/184, 715700-702, 434/262, 434/267
• US Class Current: 345/156
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 19/409 characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters G05B19/408, G05B19/4093 take precedence
• CPC Class Codes: G05B 2219/35338 Display virtual tool, locus, part to check possibility of execution next block
• CPC Class Codes: G05B 2219/35441 Production design metaphore, tool, operation like input system
• CPC Class Codes: G05B 2219/40119 Virtual internal model, derive from forces on object, motion of end effector
• CPC Class Codes: G05B 2219/40137 Force sensation feedback from simulated tool
• CPC Class Codes: G05B 2219/45118 Endoscopic, laparoscopic manipulator
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders

Abstract

An apparatus for interfacing the movement of a shaft with a computer includes a support, a gimbal mechanism having two degrees of freedom, and three electromechanical transducers. When a shaft is engaged with the gimbal mechanism, it can move with three degrees of freedom in a spherical coordinate space, where each degree of freedom is sensed by one of the three transducers. A fourth transducer can be used to sense rotation of the shaft around an axis.

Claims

1. A method, comprising:

generating a graphical simulation on a computer coupled to a display;

manipulating a user controlled object coupled to an interface including a mechanism, the mechanism configured to allow movement of the user controlled object in at least three rotary degrees of freedom all intersecting at a single common pivot point, the common pivot point between a first end and a second end of the user controlled object, wherein the first end of the user controlled object is contacted by a user;

sensing movement of the user controlled object in a linear degree of freedom as the user controlled object is slidably moved through the mechanism of the interface;

transmitting position information of the sensed movement to the computer;

updating the displayed graphical simulation in response to the updated position information;

transmitting a force command from the computer to the interface based on the updated position information; and

generating a force on the user controlled object in response to the force command.

2. The method of claim 1, wherein the generating the graphical simulation further comprises generating a graphical representation of a body on the display.

3. The method of claim 1, wherein the generating the graphical simulation further comprises generating a graphical representation of the user controlled object on the display.

4. The method of claim 1, wherein the generating the force further comprises generating a resistance force on the user controlled object to simulate a pushing sensation, wherein the resistance force is in the linear degree of freedom.

5. The method of claim 1, wherein the generating the force further comprises generating a resistance force on the user controlled object about a rotary degree of freedom.

6. The method of claim 1, wherein the generating the graphical simulation further comprises generating a graphical representation of the user controlled object on the display, wherein the force command is transmitted upon and corresponds to the graphical representation of the user controlled object coming into contact with an obstacle in the graphical simulation.

7. The method of claim 1, wherein the user controlled object always intersects the common point and a portion of the user controlled object extending from the common point defines a radius of a sphere.

8. The method of claim 1, wherein said sensing movement further comprises:

sensing movement of the user controlled object about a first axis; and

sensing movement of the user controlled object about a second axis, wherein the first and second axes are substantially perpendicular to one another.

9. A method comprising:

generating a graphical simulation on a computer coupled to a display;

sensing movement of a user controlled object coupled to an interface having a mechanism, wherein the mechanism is configured to allow movement of the user controlled object in at least three rotary degrees of freedom all intersecting at a single common pivot point, the common pivot point between a first end and a second end of the user controlled object, wherein the first end of the user controlled object is contacted by a user, wherein the sensed movement is in a rotary degree of freedom;

transmitting position information of the sensed movement to the computer, wherein the sensed linear movement is of the user controlled object sliding through the mechanism of the interface;

updating the displayed graphical simulation in response to the updated position information;

transmitting a force command from the computer to the interface based on the updated position information; and

generating a force on the user controlled object to be felt by the user in response to the force command.

10. The method of claim 9, wherein said generating the graphical simulation further comprises generating a graphical representation of a body on the display.

11. The method of claim 9, wherein said generating the graphical simulation further comprises generating a graphical representation of the user controlled object on the display.

12. The method of claim 9, wherein said generating the force further comprises generating a resistance force on the user controlled object to simulate a pushing sensation, wherein the resistance force is in a linear degree of freedom.

13. The method of claim 9, wherein said generating the force further comprises generating a resistance force on the user controlled object about a rotary degree of freedom.

14. The method of claim 9, wherein the generating the graphical simulation further comprises generating a graphical representation of the user controlled object on the display, wherein the force command is transmitted upon and corresponds to the graphical representation of the user controlled object coming into contact with an obstacle in the graphical simulation.

15. The method of claim 9, wherein the user controlled object always intersects the common point and a portion of the user controlled object extending from the common point defines a radius of a sphere.

16. The method of claim 9, wherein said sensing movement further comprises:

sensing movement of the user controlled object about a first axis; and

sensing movement of the user controlled object about a second axis, wherein the first and second axes are substantially perpendicular to one another.

17. An interface apparatus comprising:

means for engaging a user controlled object having a first end and a second end, the first end in contact with and physically manipulatable by a user, wherein the means for engaging is configured to allow movement of the user controlled object in at least three rotary degrees of freedom all intersecting at a single common pivot point, the common pivot point between the first end and the second end of the user controlled object;

means for sensing movement of the user controlled object in at least one degree of freedom when the user controlled object is slidably moved in a linear direction through the means for engaging;

means for outputting data indicative of the linear movement to a computer running a graphical user interface program, wherein the computer is configured to update the graphical user interface program in response to receiving the data; and

means for outputting a force to the user controlled object to be felt by the user in response to receiving a control signal from the computer system, wherein the force is applied in the degree of freedom.

18. The interface apparatus of claim 17, wherein said means for outputting the force generates a resistance force against the movement of the user controlled object in a linear degree of freedom.

19. The interface apparatus of claim 17, wherein said means for outputting the force generates a resistance force against the movement of the user controlled object in a rotary degree of freedom.