Pivotable computer interface

• US 7,877,243 B2
• Filed: 07/15/2002
• Issued: 01/25/2011
• Est. Priority Date: 07/16/2001
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Bailey, David W., Olien, Neil T., Vassallo, Steven P., Gregorio, Pedro
• Primary Examiner(s): Rodriguez; Paul L
• Assistant Examiner(s): PIERRE LOUIS, ANDRE
• Application Number:
  US10/196,717
• Publication Number:
  US 20030025723A1
• Time in Patent Office: 3,116 Days
• Field of Search: 703/13, 703/6, 345/161, 345/156
• US Class Current: 703/3
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00367 Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas

Abstract

A computer interface for use with a computer simulation system. The interface includes a first grip portion and a second grip portion pivotably coupled to the first grip portion. An actuator is coupled to at least one of the two grip portions and is configured to provide feedback to a user.

Claims

1. A computer interface for use with a computer simulation system, the computer interface comprising:

a first grip portion of the computer interface;

a second grip portion of the computer interface pivotably coupled to the first grip portion at a pivot point; and

an actuator mechanically coupled to the first or second grip portions and configured to provide haptic feedback to a user, wherein the haptic feedback comprises a force about the pivot point applied to one of the first or second grip portions.

2. The computer interface of claim 1, wherein the actuator is coupled to both the first and second grip portions.

3. The computer interface of claim 2, wherein the actuator comprises a rotary motor.

4. The computer interface of claim 1, wherein the actuator is coupled to the first grip portion and comprises a rotary motor, a rotating shaft that extends into the second grip portion, and a cable coupled to the rotating shaft and the second grip portion.

5. The computer interface of claim 1, further comprising a spring coupled to both the first and second grip portions.

6. The computer interface of claim 1, further comprising at least one sensor for sensing angular rotation of the first and second grip portions about the pivot point.

7. The computer interface of claim 1, wherein the haptic feedback comprises at least one of kinesthetic feedback or vibrotactile feedback.

8. A computer interface for use with a computer simulation system, the computer interface comprising a practice tool comprising an elongated portion and a handle, the handle comprising:

a first grip portion of the computer interface at a proximal portion of the elongated portion;

a second grip portion of the computer interface at a proximal portion of the elongated portion and pivotably coupled to the first grip portion at a pivot point; and

an actuator coupled to the first or second grip portions, the actuator configured to provide haptic feedback to a user, wherein the haptic feedback comprises a force about the pivot point applied to one of the first or second grip portions.

9. The computer interface of claim 8, wherein the actuator is coupled to both the first and second grip portions.

10. The computer interface of claim 9, wherein the actuator comprises a rotary motor.

11. The computer interface of claim 8, wherein the actuator is coupled to the first grip portion and comprises a rotary motor, a rotating shaft that extends into the second grip portion, and a cable coupled to the rotating shaft and the second grip portion.

12. The computer interface of claim 8, further comprising a spring coupled to both the first and second grip portions.

13. The computer interface of claim 8, further comprising at least one sensor for sensing angular rotation of the first and second grip portions about the pivot point.

14. The computer interface of claim 8, wherein the haptic feedback comprises at least one of kinesthetic feedback or vibrotactile feedback.

15. The computer interface of claim 8, further comprising at least one sensor for sensing at least one of motion or position of the elongated portion.

16. A method of providing haptic feedback to a practice tool during computerized simulation, the method comprising:

providing a practice tool comprising an elongated portion and a handle, the handle comprising;

a first grip portion of the practice tool at a proximal portion of the elongated portion;

a second grip portion of the practice tool at a proximal portion of the elongated portion and pivotably coupled to the first grip portion at a pivot point; and

an actuator coupled to the first or second grip portions; and

providing haptic feedback with the actuator, wherein the haptic feedback comprises a force about the pivot point applied to one of the first or second grip portions.

17. The method of claim 16, wherein the haptic feedback comprises at least one of kinesthetic feedback or vibrotactile feedback.

18. The method of claim 16, further comprising sensing angular rotation of the first and second grip portions about the pivot point.

19. The method of claim 16, further comprising sensing at least one of motion or position of the elongated portion.

20. The method of claim 16, further comprising providing a spring coupled to the first and second grip portions.