WO2003009069A8 - Interface apparatus with cable-driven force feedback and four grounded actuators - Google Patents

Interface apparatus with cable-driven force feedback and four grounded actuators

Info

Publication number
WO2003009069A8
WO2003009069A8 PCT/US2002/022750 US0222750W WO03009069A8 WO 2003009069 A8 WO2003009069 A8 WO 2003009069A8 US 0222750 W US0222750 W US 0222750W WO 03009069 A8 WO03009069 A8 WO 03009069A8
Authority
WO
WIPO (PCT)
Prior art keywords
coupled
actuators
mechanical linkage
mechanical
cable
Prior art date
Application number
PCT/US2002/022750
Other languages
French (fr)
Other versions
WO2003009069A1 (en
Inventor
Pedro Gregorio
Neil T Olien
David W Bailey
Steven P Vassallo
Original Assignee
Immersion Corp
Pedro Gregorio
Neil T Olien
David W Bailey
Steven P Vassallo
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 Corp, Pedro Gregorio, Neil T Olien, David W Bailey, Steven P Vassallo filed Critical Immersion Corp
Priority to KR1020107009058A priority Critical patent/KR101154809B1/en
Priority to DE60238411T priority patent/DE60238411D1/en
Priority to AT02748193T priority patent/ATE489662T1/en
Priority to KR1020047000654A priority patent/KR101009865B1/en
Priority to EP02748193A priority patent/EP1417547B1/en
Priority to JP2003514348A priority patent/JP4366185B2/en
Publication of WO2003009069A1 publication Critical patent/WO2003009069A1/en
Publication of WO2003009069A8 publication Critical patent/WO2003009069A8/en

Links

Classifications

    • 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
    • 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
    • G09B23/285—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00707—Dummies, phantoms; Devices simulating patient or parts of patient
    • 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
    • A61B2034/741—Glove like input devices, e.g. "data gloves"
    • 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
    • G05B2219/40122—Manipulate virtual object, for trajectory planning of real object, haptic display
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45118—Endoscopic, laparoscopic manipulator

Abstract

A system for providing realistic sensation within a simulation system by providing tactile (haptic) feedback to a user. The system includes an engageable practice tool that the user engages and a mechanical simulation apparatus coupled to the practice tool. The mechanical simulation apparatus includes a ground member (46), a mechanical linkage (38) rotatably coupled to the ground member (47), a linear axis member coupled to the practice tool and the mechanical linkage (38), at least four actuators (62, 64, 66, 70) coupled to the ground member, sensors (65, 67, 69) for sensing movement of the actuators, and at least three cables in contact with the at least four (actuators ) (65, 64, 66, 70) and coupled to the mechanical linkage (38). An interface device is coupled to the simulation apparatus and a host computer (20) is coupled to the interface device (14) for implementing an application program. The application program provides signals for the actuators (62, 64, 66, 70) to move the cables (130) and thereby move the mechanical linkage (38).
PCT/US2002/022750 2001-07-16 2002-07-16 Interface apparatus with cable-driven force feedback and four grounded actuators WO2003009069A1 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
KR1020107009058A KR101154809B1 (en) 2001-07-16 2002-07-16 Medical simulation apparatus and method of using the same
DE60238411T DE60238411D1 (en) 2001-07-16 2002-07-16 INTERFACE DEVICE WITH CABLE GEARED FORCED FEEDBACK AND FOUR MEASUREMENTS ASSOCIATED WITH DIMENSIONS
AT02748193T ATE489662T1 (en) 2001-07-16 2002-07-16 CABLE-DRIVEN FEEDBACK INTERFACE DEVICE AND FOUR GROUND-CONNECTED ACTUATORS
KR1020047000654A KR101009865B1 (en) 2001-07-16 2002-07-16 System and method for providing force feedback to a user
EP02748193A EP1417547B1 (en) 2001-07-16 2002-07-16 Interface apparatus with cable-driven force feedback and four grounded actuators
JP2003514348A JP4366185B2 (en) 2001-07-16 2002-07-16 Interface device with force feedback by cable drive and four grounded actuators

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US30595701P 2001-07-16 2001-07-16
US60/305,957 2001-07-16
US10/196,563 2002-07-15
US10/196,563 US7056123B2 (en) 2001-07-16 2002-07-15 Interface apparatus with cable-driven force feedback and grounded actuators

Publications (2)

Publication Number Publication Date
WO2003009069A1 WO2003009069A1 (en) 2003-01-30
WO2003009069A8 true WO2003009069A8 (en) 2004-05-06

Family

ID=29218385

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2002/022750 WO2003009069A1 (en) 2001-07-16 2002-07-16 Interface apparatus with cable-driven force feedback and four grounded actuators

Country Status (8)

Country Link
US (3) US7056123B2 (en)
EP (1) EP1417547B1 (en)
JP (1) JP4366185B2 (en)
KR (2) KR101009865B1 (en)
CN (1) CN100415177C (en)
AT (1) ATE489662T1 (en)
DE (1) DE60238411D1 (en)
WO (1) WO2003009069A1 (en)

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EP1417547A4 (en) 2009-03-11
KR101009865B1 (en) 2011-01-19
ATE489662T1 (en) 2010-12-15
CN1531670A (en) 2004-09-22
EP1417547A1 (en) 2004-05-12
US7056123B2 (en) 2006-06-06
JP4366185B2 (en) 2009-11-18
KR20040018465A (en) 2004-03-03
US20030068607A1 (en) 2003-04-10
CN100415177C (en) 2008-09-03
DE60238411D1 (en) 2011-01-05
US20090009492A1 (en) 2009-01-08
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KR20100060009A (en) 2010-06-04
US8007282B2 (en) 2011-08-30
US7404716B2 (en) 2008-07-29
WO2003009069A1 (en) 2003-01-30
US20060099560A1 (en) 2006-05-11
EP1417547B1 (en) 2010-11-24

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