Computer interface apparatus including linkage having flex

• US 7,821,496 B2
• Filed: 02/19/2004
• Issued: 10/26/2010
• Est. Priority Date: 01/18/1995
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Schena, Bruce M., Rosenberg, Louis B.
• Primary Examiner(s): Brier; Jeffery A
• Application Number:
  US10/780,852
• Publication Number:
  US 20040164959A1
• Time in Patent Office: 2,441 Days
• Field of Search: 345/161, 744/790.1
• US Class Current: 345/161
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• 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: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G01B 21/04 by measuring coordinates of points
• CPC Class Codes: G01B 5/008 using coordinate measuring machines
• CPC Class Codes: G01B 7/004 for measuring coordinates of points
• CPC Class Codes: G05B 19/4207 in which a model is traced or scanned and corresponding data recorded
• CPC Class Codes: G05G 2009/0474 characterised by means converting mechanical movement into electric signals
• CPC Class Codes: G05G 2009/04759 Light-sensitive detector, e.g. photoelectric
• 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 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• 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 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
• CPC Class Codes: G09B 9/28 Simulation of stick forces or the like
• CPC Class Codes: H01H 2003/008 : with a haptic or a tactile feedback controlled by electrical means, e.g. a motor or magnetofriction

Abstract

A method and apparatus for interfacing the motion of a user-manipulable object with an electrical or computer system includes a user object physically contacted by a user. A gimbal mechanism is coupled to the user object, such as a joystick or a medical tool, and provides at least two degrees of freedom to the user object. The gimbal mechanism preferably includes multiple members, at least two of which are formed as a unitary member which provides flex between the selected members. An actuator applies a force along a degree of freedom to the user object in response to electrical signals produced by the computer system. A sensor detects a position of the user object along the degree of freedom and outputs sensor signals to the computer system. Another embodiment includes a host computer system and a local microprocessor, separate from the host computer, for communicating with the host computer and controlling the forces output by the actuators according to a processor subroutine selected in accordance with a host command, sensor signals, and timing information. Another embodiment of the interface apparatus uses voice coil actuators that produce forces in either linear or rotary degrees of freedom using currents applied in a magnetic fields. A friction drive mechanism of the present invention can be coupled between an actuator and a gimbal mechanism. Force from the actuator is transmitted to the gimbal mechanism through frictional contact of members of the friction drive mechanism.

Claims

1. An apparatus, comprising:

a manipulandum oriented along a longitudinal axis;

a linkage coupled to the manipulandum, the linkage configured to allow the manipulandum to move in at least two rotational degrees of freedom with respect to ground, the linkage further configured to allow the manipulandum to move in a translational degree of freedom through an aperture of a portion of the linkage along the longitudinal axis, the linkage including a plurality of elements, at least a subset of elements from the plurality of elements being flexible and moveable to allow said manipulandum to move in at least one of said at least two degrees of freedom with respect to ground; and

at least one sensor configured to detect at least one of a position and a movement of the manipulandum in the at least two degrees of freedom and output a sensor signal based on the detected at least one of the position and the movement.

2. The apparatus of claim 1, further comprising an actuator coupled to the linkage, the actuator configured to output via the subset of elements a feedback force along at least one of the at least two degrees of freedom.

3. The apparatus of claim 1, wherein the linkage includes:

a ground member configured to be coupled to a ground surface;

a first extension member and a second extension member, the first extension member and the second extension member being coupled to the ground member; and

a first central member and a second central member, the first central member having an end coupled to the first extension member, the second central member having an end coupled to the second extension member, the first central member and the second central member being coupled to each other at ends opposite the ends coupled to the first extension member and the second extension member.

4. The apparatus of claim 1, wherein the linkage includes:

a ground member configured to be coupled to a ground surface;

a first extension member and a second extension member, the first extension member and the second extension member being coupled to the ground member; and

a first central member and a second central member, the first central member having an end flexibly coupled to the first extension member, the second central member having an end flexibly coupled to the second extension member, the first central member and the second central member being coupled to each other at ends opposite the ends coupled to the first extension member and the second extension member.

5. The apparatus of claim 1, wherein the linkage includes:

a ground member configured to be coupled to a ground surface;

a first extension member and a second extension member, the first extension member and the second extension member being coupled to the ground member; and

a first central member and a second central member, the first central member having a first end coupled to the first extension member, the second central member having a first end coupled to the second extension member, a second end of the first central member and a second end of the second central member being coupled to each other, the ground member being rotatably coupled to the first extension member and the second extension member by bearings, the bearings configured to permit rotation of the first extension member and the second extension member.

6. The apparatus of claim 1, wherein at least one element from the subset of elements is narrower in a dimension in which that element is configured to flex, and is wider in other dimensions in which that element is configured to be substantially inflexible.

7. The apparatus of claim 1, further comprising:

a first actuator coupled to the linkage, the actuator configured to output via the subset of elements a feedback force in at least one of the at least two degrees of freedom based on the sensor signal; and

a second actuator coupled to the ground member, the second actuator being configured to apply a feedback force in at least one of the at least two degrees of freedom based on the sensor signal, the feedback force associated with the second actuator being different from the feedback force associated with the first actuator.

8. The apparatus of claim 1, further comprising an actuator coupled to the linkage, the actuator configured to output via the subset of elements a feedback force along at least one of the at least two degrees of freedom, the actuator including a voice coil actuator configured to impart the feedback force on the manipulandum.

9. An apparatus, comprising:

a manipulandum having a shaft oriented along a longitudinal axis and configured to be moveable in at least two rotational degrees of freedom about axes of rotation with respect to ground;

a first member coupled to the shaft of the manipulandum and having an aperture configured to allow the manipulandum to move along the longitudinal axis in a translational degree of freedom with respect to ground;

a second member coupled to the first member and having a flexible characteristic; and

a third member coupled to the first member and having a flexible characteristic.

10. The apparatus of claim 9, wherein, the second member has a first dimension about which the second member is configured to flex, and has a second dimension about which the second member is configured to be substantially inflexible.

11. The apparatus of claim 9, further comprising:

an actuator coupled to the manipulandum, the actuator configured to output a feedback force along at least one of the at least two degrees of freedom.

12. The apparatus of claim 9, further comprising:

a sensor configured to detect a position of the manipulandum along at least one of the at least two degrees of freedom and output a sensor signal based on the detected position.

13. The apparatus of claim 9, wherein the manipulandum includes one of a simulated surgical tool, a stylus, or a joystick.

14. The apparatus of claim 9, wherein, the third member has a first dimension about which the third member is configured to flex, and has a second dimension about which the third member is configured to be substantially inflexible.

15. The apparatus of claim 9, wherein the second member is coupled to a first inflexible extension member and the third member is coupled to a second inflexible extension member, wherein the first and second extension members are coupled to ground.