Medical device and procedure simulation
First Claim
1. A device, comprising:
- an interface member including a compressible material of selectively variable density;
a manipulandum movable in a degree of freedom, the manipulandum configured to cause an object to penetrate the material;
a sensor configured to output a position signal based on the depth of penetration of the object within the material; and
an actuator configured to;
apply a first compressive force to the material to change the density of the material within at least a portion of the interface member in response to the position signal, wherein the change in density of the material imparts a haptic effect to the manipulandum, andapply a second compressive force to the material substantially simultaneously with the first compressive force, wherein the first compressive force is different from the second compressive force.
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Accused Products
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.
109 Citations
22 Claims
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1. A device, comprising:
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an interface member including a compressible material of selectively variable density; a manipulandum movable in a degree of freedom, the manipulandum configured to cause an object to penetrate the material; a sensor configured to output a position signal based on the depth of penetration of the object within the material; and an actuator configured to; apply a first compressive force to the material to change the density of the material within at least a portion of the interface member in response to the position signal, wherein the change in density of the material imparts a haptic effect to the manipulandum, and apply a second compressive force to the material substantially simultaneously with the first compressive force, wherein the first compressive force is different from the second compressive force. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A device, comprising:
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a retainer defining an interior in which a compressible material is disposed and having a selectively variable density when a compressible force is applied thereto; a manipulandum movable in a degree of freedom, the manipulandum configured to cause an object to penetrate the material; a sensor configured to output a position signal based on the depth of penetration of the object within the material; and an actuator coupled to the retainer, the actuator configured to; apply a first compressible force to the material to change the density of the material in response to the position signal, wherein the change in density of the material imparts a haptic effect to the manipulandum, and apply a second compressible force to the material substantially simultaneously with the first compressible force, wherein the first compressible force is different from the second compressible force. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification