Method, apparatus, and article for force feedback based on tension control and tracking through cables

• US 8,760,393 B2
• Filed: 12/16/2010
• Issued: 06/24/2014
• Est. Priority Date: 03/26/2003
• Status: Expired due to Fees

• Current Assignee: MIMIC Technologies, Inc.
• Original Assignee: MIMIC Technologies, Inc.
• Inventors: Berkley, Jeffrey J., Kim, Seahak, Hong, Sungkwon
• Primary Examiner(s): NGUYEN, KIMNHUNG T
• Application Number:
  US12/970,622
• Publication Number:
  US 20110084943A1
• Time in Patent Office: 1,286 Days
• Field of Search: 345156-158, 345173-179, 345/204, 463 36- 39
• US Class Current: 345/156
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• 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 3/0338 with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
• CPC Class Codes: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• CPC Class Codes: G06F 3/04815 Interaction with a metaphor-based environment or interaction object displayed as three-dimensional, e.g. changing the user viewpoint with respect to the environment or object

Abstract

A haptic device for human/computer interface includes a user interface tool coupled via cables to first, second, third, and fourth cable control units, each positioned at a vertex of a tetrahedron. Each of the cable control units includes a spool and an encoder configured to provide a signal corresponding to rotation of the respective spool. The cables are wound onto the spool of a respective one of the cable control units. The encoders provide signals corresponding to rotation of the respective spools to track the length of each cable. As the cables wind onto the spools, variations in spool diameter are compensated for. The absolute length of each cable is determined during initialization by retracting each cable In turn to a zero length position. A sensor array coupled to the tool detects rotation around one or more axes.

Claims

1. A haptic system comprising:

first, second and third cable segments;

first, second, and third cable control devices coupled to a support structure and defining a plane, each cable control device coupled to a respective one of the first, second and third cable segments and being configured to pay out and retract the respective cable, and to provide a signal corresponding to a change in length of the respective cable segment, wherein changes in length of the first, second and third cable segments correspond to motion of a hand of a user; and

an elongated tool port pivotably coupled at a first end to the support structure and extending toward the plane and coupled at a second end of the elongated tool port to the first, second and third cable segments.

2. The haptic system of claim 1 wherein the first, second, and third cable control devices are further configured to apply a selectively variable retraction bias to the respective one of the first, second, and third cable segments.

3. The haptic system of claim 1, further comprising a controller configured to determine an angle of rotation of the elongated tool port, relative to the plane, based on the signals provided by the first, second, and third cable control devices.

4. The haptic system of claim 1 wherein the elongated tool port is configured to detect rotation of a tool positioned therein.

5. The haptic system of claim 1 wherein the elongated tool port is configured to detect translation of a tool positioned therein.

6. The haptic system of claim 1, further comprising:

a processor that receives signals, corresponding to a changes in the lengths of the cable segments, from the first, the second, and the third cable control devices, the processor configured to calculate a force feedback based at least in part on the received signals and configured to provide signals to at least one of the first, the second, and the third cable control devices for application of the calculated force feedback, wherein responsive to the signals provided by the processor, the at least one of the first, the second, and the third cable control devices applies variable retraction bias to the respective one of the first, the second, and the third cable segments for application of the force feedback.

7. The haptic system of claim 1, further comprising:

a tool received by the elongated tool port and having a first end, configured to be gripped by the hand of the user, that extends generally outward from the elongated tool port.

8. A haptic device, comprising:

at least three translational effecter devices coupled to a support structure;

at least three cable segments, each one of the cable segments coupled to a respective one of the translational effecter devices; and

an elongated port having opposed first and second ends with a shaft extending therebetween, the first end of the elongated port rotatably fixed to a pivot point and having two rotational degrees-of-freedom, the second end of the elongated port coupled to each one of the at least three cable segments, and the elongated port configured to permit passage of at least a portion of a tool such that an end of the tool extends outward from the second end of the elongated port.

9. The haptic device of claim 8, wherein the elongated port is configured to permit unconstrained slidable movement of the tool through the elongated port.

10. The haptic device of claim 8, wherein each respective cable segment has a length extending between the respective translation effecter device to which the respective cable is coupled thereto and the second end of the elongated port, and further comprising:

a processor that receives signals from the at least three translational effecter devices, the processor configured to calculate a position of the second end of the elongated port based at least in part on the received signals, the received signals corresponding to a changes in the lengths of the cable segments.

11. The haptic device of claim 10, wherein the processor is further configured to calculate the position of the second end of the elongated port based at least in part on a distance between the first end and the second end of the elongated port.

12. The haptic device of claim 8, further comprising:

a processor that calibrates the translational effecter devices based at least in part on a first position of the elongated port.

13. The haptic device of claim 12, wherein the processor calibrates the translational effecter devices based at least in part known reference lengths for each one of the cable segments when the elongated port is positioned at the first position.

14. The haptic device of claim 12, wherein the processor calibrates the translational effecter devices based at least in part on each one of the translational effecter device, one-by-one, retracting a respective one of the cable segments such that the second end of the elongated port is drawn to the first position, a second position, and a third position.

15. The haptic device of claim 8, wherein each of the translational effecter devices include a spool and a brake configured to prevent rotation, prior to a power-down of the haptic device and during the power-down of the haptic device, of the spool in response to a signal to engage the brake.

16. The haptic device of claim 15, further comprising:

a processor that stores, prior to the power-down of the haptic device and during the power-down of the haptic device, in a memory at least one value indicative of a length for at least one of the at least three cable segments in response to the signal.

17. The haptic device of claim 15, wherein the signal is a power-down signal.

18. The haptic device of claim 8, wherein the end of the tool extends outward from the second end of the port is a first end, and wherein the haptic device is configured to apply a calculated force feedback to a second end of the tool through controlled movement of the second end of the elongated port, the second of the tool extending generally outward from the first end of the elongated port and configured to be gripped by a hand of a user.

19. A haptic device, comprising:

an elongated port having opposed first and second ends with a shaft extending therebetween, the first end of the elongated port rotatably fixed to a pivot point and having two rotational degrees-of-freedom;

at least three translational effecter devices coupled to a support structure;

at least three cable segments, each one of the cable segments coupled to a respective one of the translational effecter devices and to the second end of the elongated port; and

an elongated tool at least partially received by the elongated port, the elongated tool extending through and beyond the second end of the elongated port, wherein the elongated tool freely slides within the elongated port.

20. The haptic device of claim 19, wherein the tool includes at least one of forceps, needle holder, scalpel, endoscope, arthroscope, surgical tool and medical tool.

21. The haptic device of claim 20, wherein each cable segment has a length extending between the respective translation effecter device to which the cable is coupled thereto and the second end of the elongated port, and further comprising:

a processor that receives signals, corresponding to a changes in the lengths of the cable segments, from the at least three translational effecter devices, the processor configured to calculate a force feedback based at least in part on the received signals and configured to provide signals to at least one of the at least three translational effecter devices for application of the calculated force feedback, wherein responsive to the signals provided by the processor, the at least one of at least three translational effecter devices applies variable retraction bias to the respective one of the first, the second, and the third cable segments for application of the force feedback.

22. The haptic device of claim 19, wherein the elongated tool comprises:

a handle; and

a motor in the handle configured to provide force feedback to a user of the tool.

23. The haptic device of claim 19, wherein each of the translational effecter devices include a spool and a brake configured to prevent rotation, prior to a power-down of the haptic device and during the power-down of the haptic device, of the spool in response to a signal to engage the brake.

24. The haptic device of claim 23, further comprising:

a processor that stores, prior to the power-down of the haptic device and during the power-down of the haptic device, in a memory at least one value indicative of a length for at least one of the at least three cable segments in response to the signal.