CA2272379A1 - Mechanical interface having multiple grounded actuators - Google Patents

Mechanical interface having multiple grounded actuators Download PDF

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Publication number
CA2272379A1
CA2272379A1 CA002272379A CA2272379A CA2272379A1 CA 2272379 A1 CA2272379 A1 CA 2272379A1 CA 002272379 A CA002272379 A CA 002272379A CA 2272379 A CA2272379 A CA 2272379A CA 2272379 A1 CA2272379 A1 CA 2272379A1
Authority
CA
Canada
Prior art keywords
freedom
user object
coupled
actuators
degrees
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002272379A
Other languages
French (fr)
Other versions
CA2272379C (en
Inventor
Kenneth M. Martin
Mike D. Levin
Louis B. Rosenberg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Immersion Corp
Original Assignee
Immersion Corporation
Kenneth M. Martin
Mike D. Levin
Louis B. Rosenberg
Immersion Human Interface Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Immersion Corporation, Kenneth M. Martin, Mike D. Levin, Louis B. Rosenberg, Immersion Human Interface Corporation filed Critical Immersion Corporation
Publication of CA2272379A1 publication Critical patent/CA2272379A1/en
Application granted granted Critical
Publication of CA2272379C publication Critical patent/CA2272379C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor 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
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35419—Four and more-DOF hand controller, joystick, manipulandum
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40144—Force sensation feedback from slave

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Physics & Mathematics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Mathematical Physics (AREA)
  • Medicinal Chemistry (AREA)
  • Algebra (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Human Computer Interaction (AREA)
  • Pure & Applied Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Mechanical Engineering (AREA)
  • Position Input By Displaying (AREA)
  • Mechanical Control Devices (AREA)
  • Manipulator (AREA)

Abstract

An apparatus (14) and method for interfacing the motion of a user-manipulable object (12) with a computer system includes a user object (12) physically contacted or grasped by a user. A 3-D spatial mechanism is coupled to the user object (12), such as a stylus (35) or a medical instrument, and provides three degrees of freedom to the user object (12). Three grounded actuators (54) provide forces in the three degrees of freedom. Two of the degrees of freedom are a planar workspace provided by a closed loop linkage of members, and the third degree of freedom is rotation of the planar workspace provided by a rotatable carriage (34). Capstan drive mechanisms transmit forces between actuators and the user object and include drums coupled to the carriage (34), pulleys coupled to grounded actuators (54), and flexible cables transmitting force between the pulleys and the drums. The flexibility of the cable allows the drums to rotate with the carriage (34) while the pulleys and actuators (54) remain fixed to ground. The interface also may include a floating gimbal mechanism (32) coupling the linkage (30) to the user object (12). The floating gimbal mechanism (32) includes rotatably coupled gimbal members (32) that provide three degrees of freedom to the user object (12) and capstan mechanisms coupled between sensors and the gimbal members (32) for providing enhanced sensor resolution.
CA002272379A 1996-10-25 1997-10-16 Mechanical interface having multiple grounded actuators Expired - Lifetime CA2272379C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US08/736,161 US5828197A (en) 1996-10-25 1996-10-25 Mechanical interface having multiple grounded actuators
US08/736,161 1996-10-25
PCT/US1997/018609 WO1998019222A1 (en) 1996-10-25 1997-10-16 Mechanical interface having multiple grounded actuators

Publications (2)

Publication Number Publication Date
CA2272379A1 true CA2272379A1 (en) 1998-05-07
CA2272379C CA2272379C (en) 2001-12-11

Family

ID=24958758

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002272379A Expired - Lifetime CA2272379C (en) 1996-10-25 1997-10-16 Mechanical interface having multiple grounded actuators

Country Status (3)

Country Link
US (2) US5828197A (en)
CA (1) CA2272379C (en)
WO (1) WO1998019222A1 (en)

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