Title: Laparoscopic simulation interface

Abstract

A method and apparatus for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism provides two revolute degrees of freedom to an object about two axes of rotation. A linear axis member is coupled to the gimbal mechanism at the intersection of the two axes of rotation. The linear axis member is capable of being translated along a third axis to provide a third degree of freedom. The user object is coupled to the linear axis member and is thus translatable along the third axis so that the object can be moved along all three degrees of freedom. Transducers associated with the provided degrees of freedom include sensors and actuators and provide an electromechanical interface between the object and a digital processing system. Capstan drive mechanisms transmit forces between the transducers and the object. The linear axis member can also be rotated about its lengthwise axis to provide a fourth degree of freedom, and, optionally, a floating gimbal mechanism is coupled to the linear axis member to provide fifth and sixth degrees of freedom to an object. Transducer sensors are associated with the fourth, fifth, and sixth degrees of freedom. The interface ismore » well suited for simulations of medical procedures and simulations in which an object such as a stylus or a joystick is moved and manipulated by the user. « less

Inventors:

Rosenberg, Louis B.

Issue Date:

2006-04-04

Research Org.:

Immersion Corporation, San Jose, CA (United States)

Sponsoring Org.:

USDOE

OSTI Identifier:

1175692

Patent Number(s):

7023423

Application Number:

09/852,401

Assignee:

Immersion Corporation (San Jose, CA)

Patent Classifications (CPCs):

A - HUMAN NECESSITIES A61 - MEDICAL OR VETERINARY SCIENCE A61B - DIAGNOSIS

A - HUMAN NECESSITIES A63 - SPORTS A63F - CARD, BOARD, OR ROULETTE GAMES

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A - HUMAN NECESSITIES A61 - MEDICAL OR VETERINARY SCIENCE A61B - DIAGNOSIS

A61B90/50 - Supports for surgical instruments, e.g. articulated arms

A - HUMAN NECESSITIES A63 - SPORTS A63F - CARD, BOARD, OR ROULETTE GAMES

A63F13/21 - characterised by their sensors, purposes or types
A63F13/235 - using a wireless connection, e.g. infrared or piconet
A63F13/24 - Constructional details thereof, e.g. game controllers with detachable joystick handles
A63F13/245 - specially adapted to a particular type of game, e.g. steering wheels
A63F13/285 - Generating tactile feedback signals via the game input device, e.g. force feedback
A63F2300/1006 - having additional degrees of freedom
A63F2300/1031 - using a wireless connection, e.g. Bluetooth, infrared connections
A63F2300/1037 - being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
A63F2300/1062 - being specially adapted to a type of game, e.g. steering wheel
A63F2300/8082 - Virtual reality

G - PHYSICS G05 - CONTROLLING G05G - CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY

G05G2009/0474 - {characterised by means converting mechanical movement into electric signals}
G05G2009/04766 - {providing feel, e.g. indexing means, means to create counterforce}
G05G9/047 - the controlling member being movable by hand about orthogonal axes, e.g. joysticks {
G05G9/04737 - {with six degrees of freedom}

G - PHYSICS G06 - COMPUTING G06F - ELECTRIC DIGITAL DATA PROCESSING

G06F2203/015 - Force feedback applied to a joystick
G06F3/016 - {Input arrangements with force or tactile feedback as computer generated output to the user}
G06F3/0346 - 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
G06F3/03545 - {Pens or stylus}
G06F3/0383 - {Signal control means within the pointing device}

G - PHYSICS G09 - EDUCATION G09B - EDUCATIONAL OR DEMONSTRATION APPLIANCES

G09B23/28 - for medicine
G09B9/28 - Simulation of stick forces or the like

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DOE Contract Number:  

FG03-94ER86008

Resource Type:

Patent

Country of Publication:

United States

Language:

English

Subject:

97 MATHEMATICS AND COMPUTING