CA2265590A1 - Hemispherical, high bandwidth mechanical interface for computer systems - Google Patents
Hemispherical, high bandwidth mechanical interface for computer systems Download PDFInfo
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- CA2265590A1 CA2265590A1 CA002265590A CA2265590A CA2265590A1 CA 2265590 A1 CA2265590 A1 CA 2265590A1 CA 002265590 A CA002265590 A CA 002265590A CA 2265590 A CA2265590 A CA 2265590A CA 2265590 A1 CA2265590 A1 CA 2265590A1
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- recited
- coupled
- manipulatable object
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Classifications
-
- 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
- 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
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
-
- 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
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- 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
- G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor 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
-
- 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
- G06F3/05—Digital input using the sampling of an analogue quantity at regular intervals of time, input from a/d converter or output to d/a converter
-
- 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
Abstract
A mechanical interface for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism (62) includes multiple members that are pivotably coupled to each other to provide two revolute degrees of freedom to a user manipulatable object (66c) about a pivot point located remotely from the members at about an intersection of the axes of rotation of the members. A linear axis member (64), coupled to the user object, is coupled to at least one of the members, extends through the remote pivot point and is movable in the two rotary degrees of freedom and third linear degree of freedom. Transducers associated with the provided degrees of freedom include sensors and actuators and provide an electrochemical interface between the object and a computer. Capstan band drive mechanisms (72) transmit forces between the transducers and the object and include a capstan and flat bands, where the flat bands transmit motion and force between the capstan and interface members. Applications include simulations of medical procedures, e.g. epidural anesthesia, where the user object is a needle or other medical instrument, or other types of simulations or games.
Description

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HEMISPHERICAL, HIGH BANDWIDTH
MECHANICAL INTERFACE FOR COMPUTER SYSTEMS
BACKGROUND OF THE INVENTION
The present invention relates generally to mechanical interface devices between humans
and computers, and more particularly to mechanical devices for tracking manual manipulations
and providing simulated force feedback.
Virtual reality computer systems provide users with the illusion that they are part of a
"virtual" environment. A virtual reality system will typically include a computer processor, such
as apersonal computer or workstation, specialized Virtual reality software, and virtual reality I/O
As virtual reality
systems become more powerful and as the number of potential applications increases, there is a
devices such as display screens, head mounted displays, sensor gloves, etc.
growing need for specific human/computer interface devices which allow users to interface with
computer simulations with tools that realistically emulate the activities being represented within the
virtual simulation.
One common use for virtual reality computer systems is for training. In many fields, such
as aviation and vehicle and systems operation, virtual reality systems have been used successfully
to allow a user to learn from and experience a realistic "virtual" environment. The appeal of using
virtual reality computer systems for training relates, in part, to the ability of such systems to allow
trainees the luxury of confidently operating in a highly realistic environment and making mistakes
without "real world" consequences. One highly applicable ï¬eld for the use of virtual training
system is medical operations and procedures. A virtual reality computer system can allow a
doctor-trainee or other human operator or user to âmanipulateâ a needle, scalpel or probe Within a
computer-simulated âbodyâ, and thereby perform medical procedures on a virtual patient. In this
instance, the I/O device which is typically a 3D pointer, stylus, or the like is used to represent a
surgical instrument such as a probe or scalpel. As the âprobeâ or âscalpe â moves within a
provided space or structure, results of such movement are updated and displayed in a body image
displayed on a screen of the computer system so that the operator can gain the experience of
performing such a procedure without practicing on an actual human being or a cadaver.
Other uses for virtual reality computer systems include entertainment. Sophisticated
simulations and video games allow a user to experience virtual environments with high degrees of
realism, thus providing highly interactive and immersive experiences for the user.
For virtual reality systems to provide a realistic (and therefore effective) experience for the
user, sensory feedback and manual interaction should be as natural and complete as possible.
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One essential sensory component for many experiences is the âhapticâ and tactile senses. âThe
haptic sense is typically related to the sense of touch not associated with tactility, such as the
forces sensed when pushing or pulling on an object. The tactile sense is more concerned with the
texture and feel of a surface or object.
Medical operations and procedures using such medical instruments as catheters,
laparoscopes, and needles have a distinct haptic component that is essential to performing the
procedures correctly and effectively. For example, epidural anesthesia is a highly delicate
procedure performed by anesthesiologists in operations. In this procedure, a four inch needle is
directed between two vertebrae in the lower back of the patient, through extremely dense tissue,
and into an epidural space no larger than 1/20th of an inch. Overshooting the epidural space may
result in a âwet tapâ puncturing the dura mater, resulting in severe spinal headaches for the
patient, or, in extreme cases, damage to the spinal cord.
This insertion is accomplished only through the sense of feel, i.e., the haptic sense. The
vast majority of physicians use a technique known as the âloss of resistanceâ method. The ï¬uid
in the syringe (typically a saline solution or simply air) is retarded by the dense ligaments as the
needle is inserted. The administrator will feel a slight âpopâ as the ligarnentum flavum (the layer
positioned just before the epidural space) is punctured, due to a slight pressure drop from entering
the epidural space. The contents of the syringe then flow freely into the epidural space, gently
expanding the separation of the two tissue layers. A catheter can subsequently be fed through the
center of the epidural needle so that an anesthetic can be metered through an IV.
Currently there is no practical and effective training tool to assist trainees in developing
proficiency in the administration of epidural anesthesia and like medical procedures. Mannequins
and cadavers often do not meet many of the needs of trainees for such precise manipulations.
Thus, a highly accurate virtual reality system would be ideal for this and other types of
applications, especially a "high bandwidth" interface system, which is an interface that accurately
responds to electronic signals having fast changes and a broad range of frequencies as well as
mechanically transmitting such signals accurately to a user.
There are number of devices that are commercially available for interfacing a human with a
computer for virtual reality simulations. Some of these devices provide âforce feedbackâ to a
user, i.e., the user interface device outputs forces through the use of computerâcontrolled
actuators and sensors to allow the user to experience haptic sensations. However, none of these
devices is tailored for such precise operations as epidural anesthesia. For example, in typical
multi-degree of freedom apparatuses that include force feedback, there are several disadvantages.
Since actuators which supply realistic force feedback tend to be large and heavy, they often
provide inertial constraints. There is also the problem of coupled actuators. In a typical force
feedback device, a serial chain of links and actuators is implemented to achieve multiple degrees
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of freedom for a desired object positioned at the end of the chain, i.e., each actuator is coupled to
the previous actuator. The user who manipulates the object must carry the inertia of all of the
subsequent actuators and links except for the first actuator in the chain, which is grounded. While
it is possible to ground all of the actuators in a serial chain by using a complex transmission of
cables or belts, the end result is a low stiffness, high friction, high damping transmission which
corrupts the bandwidth of the system, providing the user with an unresponsive and inaccurate
interface. These types of interfaces also introduce tactile "noise" to the user through friction and
compliance in signal transmission and limit the degree of sensitivity conveyed to the user through
the actuators of the device.
Other existing devices provide force feedback to a user through the use of a glove or
"exoske1eton" which is worn over the user's appendages, such as fingers, arms, or body.
However, these systems are not easily applicable to simulation environments such as those
needed for medical procedures or simulations of vehicles and the like, since the forces applied to
the user are with reference to the body of the user, not to a manipulated instrument or control, and
the absolute location of the user's appendages or a manipulated instrument are not easily
calculated. Furthermore, these devices tend to be complex mechanisms in which many actuators
must be used to provide force feedback to the user.
In addition, existing force feedback devices are typically bulky and require that at least a
portion of the force feedback mechanism extend into the workspace of the manipulated medical
instrument. For example, in simulated medical procedures, a portion of the mechanism typically
extends past the point where the skin surface of the virtual patient is to be simulated and into the
workspace of the manipulated instrument. This can cause natural actions during the medical
procedure, such as placing oneâs free hand on the skin surface when inserting a needle, to be
strained, awkward, or impossible and thus reduces the realism of the simulation. In addition, the
mechanism intrudes into the workspace of the instrument, reducing the workspace of the
instrument and the effectiveness and realism of many force feedback simulations and video
games. Furthermore, this undesired extension into the workspace often does not allow the force
feedback mechanism to be easily housed in a protective casing and concealed from the user.
Furthermore, prior force feedback devices often employ low fidelity actuation
transmission systems, such as gear drives. For higher fidelity, cable drive systems may be used.
However, these systems require that a drive capstan be wrapped several times with a cable and
that the cable be accurately tensioned, resulting in considerable assembly time of the force
feedback device. There is also energy loss associated with the cable deflection as the capstan
tl.lIâI'lS.
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Therefore, a high fidelity human/computer interface tool which can provide force feedback
in a constrained space to a manipulated object remote from the mechanism, and which can provide
high bandwidth, accurate forces, is desirable for certain applications.
SUMMARY OF THE INVENTION
The present invention provides a mechanical interface apparatus and method which can
provide highly realistic motion and force feedback to a user of the apparatus. The preferred
apparatus includes a gimbal mechanism which provides degrees of freedom to a user
manipulatable object about a remote pivot poin such that the gimbal mechanism is entirely within a
single hemisphere of a spherical workspace of the user object. In addition, a band drive
mechanism provides mechanical advantage in applying force feedback to the user, smooth
motion, and reduction of friction, compliance, and backlash of the system. The present invention
is particularly well suited to simulations of medical procedures using specialized tools, as well as
simulations of other activities, video games, etc.
Specifically, a mechanism of the present invention includes a gimbal mechanism for
providing motion in two degrees of freedom. The gimal mechanism includes multiple members
that are pivotably coupled to each other to provide two revolute degrees of freedom about a pivot
point located remotely from the members. The pivot point is located at about an intersection of the
axes of rotation of the members. A linear axis member is coupled to at least; one of the members,
extends through the pivot point and is movable in the two revolute degrees of freedom. The linear
axis member preferably is or includes a user manipulatable object.
In a preferred embodiment, the gimbal mechanism includes five members forming a
closed loop chain such that each of the five members is pivotably coupled to two other members
of said five members. The multiple members of the gimbal mechanism are positioned exclusively
within a hemisphere of a sphere defined by the workspace provided by the gimbal mechanism,
i.e., on one side of a plane intersecting the remote pivot point, where the pivot point is at a center
of the sphere. Preferably, the user manipulatable object is independently translatable with respect
to the gimbal mechanism along a linear axis in a third degree of freedom through the pivot point,
and at least a portion of the user object is positioned on the opposite side of the pivot point to the
gimbal mechanism.
The gimbal mechanism interfaces the motion of the linear axis member in two degrees of
freedom with a computer system. Transducers, including actuators and sensors, are coupled
between members of the gimbal mechanism for an associated degree of freedom and are coupled
to the computer system. The actuators provide a force on the linear axis member and the sensors
sense the position of the linear axis member in the three degrees of freedom. Preferred user
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manipulatable objects include at least a portion of a medical instrument, such as a needle having a
shaft and a syringe. A plunger actuator can be coupled to the needle for selectively providing a
pressure to a plunger of the syringe and simulating ejected of a ï¬uid through the needle.
Alternatively, a spherical object or other type of object can be provided with the pivot point at
about the objectâs center.
In another aspect of the present invention, the interface apparatus includes a band drive
mechanism for transmitting forces from actuators to the user object and transmitting motion of the
object to sensors. The band drive mechanism includes a capstan coupled to a rotating shaft of an
actuator of the apparatus and to a member of the apparatus by a ï¬at band. Force is applied to the
member in at least one degree of freedom via the ï¬at band when the shaft of the actuator is
rotated. Preferably, a band drive mechanism is used for both rotary and linear degrees of freedom
of the interface apparatus and transmits forces and motion with substantially no backlash. The ï¬at
band preferably includes two separate bands coupled between the capstan and the mechanism
member.
In yet another aspect of the present invention, the interface apparatus is used in a computer
simulation, such as a simulation of a medical procedure where the userâmanipulable object is a
medical instrument. The computer system determines the position of the user manipulatable
object in at least one degree of freedom from sensors. A physical property profile is then
selected. The profile includes a number of predetermined values, such as material stiffness,
density, and texture, and the selection of the particular values of the profile is based on a position
of the user object. Finally, a force on the user object is output based on a value in the selected
profile using actuators coupled to the interface apparatus. Preferably, forces are also output from
the actuators to compensate for the gravitational force resulting from the weight of the actuators
and to allow the user object to be manipulated free from gravitational force. The profile is selected
from multiple available profiles and is also dependent on a direction and trajectory of movement of
the user object. In a described embodiment, the medical simulation is an epidural anesthesia
simulation, and the user object includes a needle having a syringe. For example, one of the
selected profiles can be to provide forces simulating the needle encountering a bone within tissue.
The interface apparatus of the present invention provides a unique gimbal mechanism
having a remote pivot point that allows a user manipulatable object to be positioned on one side of
the pivot point and the gimbal mechanism entirely on the other side of the pivot point. This
provides a greater workspace for the user object and allows the mechanism to be protected and
concealed. In other embodiments, the remote pivot point allows the user object to be rotated
about the center of the object whilem advantageously allowing the user to completely grasp the
object. Furthermore, the present invention includes easyâto-assemble band drive mechanisms that
provide very low friction and backlash and high bandwidth forces to the user object, and are thus
quite suitable for high precision simulations such as medical procedures. The structure of the
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apparatus permits transducers to be positioned such that their inertial contribution to the system is
very low, thus enhancing the haptic response of the apparatus even further. Finally, a simulation
process allows for realistic simulation of precise procedures such as epidural anesthesia. These
advantages allow a computer system to have more complete and realistic control over force
feedback sensations experienced by a user of the apparatus.
These and other advantages of the present invention will become apparent to those skilled
in the art upon a reading of the following specification of the invention and a study of the several
figures of the drawing.
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BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1 is a perspective View of a virtual reality system which employs an apparatus of
the present invention to interface a needle with a computer system in a medical simulation;
Figures 2a and 2b are diagrammatic views of a mechanical apparatus of the present
invention for providing mechanical input and output to a computer system;
Figure 3 is a perspective view of a preferred embodiment of the mechanical apparatus of
Figure 2;
Figures 4a and 4b are side elevation and top plan views, respectively, of the mechanical
apparatus of Figure 3;
Figures 5a, 5b and 5c are detailed views of a capstan band drive mechanism used in the
present invention;
Figures 6a and 6b are perspective views of a capstan band drive mechanism for a linear
axis member of the mechanical apparatus of Figure 3;
Figure 7 is a block diagram of a computer and the interface between the computer and the
mechanical apparatus of Figures 2 and 3;
Figure 8 a ï¬ow diagram illustrating a process of simulating an epidural anesthesia
procedure using the mechanical apparatus of the present invention;
Figure 8a is a side view of the user object and linear axis member illustrating the gravity
compensation of the present invention;
Figures 8b and 8c are graphs showing the force output on the needle of the apparatus of
the present invention according to physical property profiles;
Figure 9 is a diagrammatic view of an alternate embodiment of the gimbal apparatus of
Figure 2a including a spherical user manipulatable object; and
Figure 9a is a diagrammatic view of an alternate embodiment of the mechanical apparatus
and user manipulatable object of Figure 9.
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DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
In FIGURE 1, a virtual reality system 10 used to simulate a medical procedure includes
a human/computer interface apparatus 12, an electronic interface 14, and a computer 16. The
illustrated virtual reality system 10 is directed to a virtual reality simulation of a needle insertion
procedure. An example of control software used in the simulation is provided in Appendix A.
Suitable software drivers which interface such simulation software with computer input/output
(I/O) devices are available from Immersion Human Interface Corporation of San J ose, California.
A needle/syringe tool (or âneedleâ) 18 used in conjunction with one embodiment of the
present invention is manipulated by an operator and, optionally, virtual reality images (and/or
instructions or procedure information) may optionally be displayed on a screen 20 of the computer
in response to such manipulations (or on a 3-D goggle display worn by the operator). Preferably,
the computer 16 is a personal computer or workstation, such as an IBMâPC AT or Macintosh
personal computer, or a SUN or Silicon Graphics workstation. Most commonly, the computer
operates under the MS-DOS operating system in conformance with an IBM PC AT standard.
The needle 18 includes a syringe portion 26 and a shaft or needle portion 28. The
syringe portion 26 is provided to hold a fluid and flow the ï¬uid through the hollow shaft portion
28 when the operator moves plunger 27 through syringe housing 29. In one embodiment, the
present invention is concerned with tracking the movement of the shaft portion 28 in three-
dimensional space, where the shaft portion 28 has three (or more) free degrees of motion.
Namely, the needle 18 can be preferably moved in a linear degree of freedom to simulate insertion
of the needle in a patient, and can also preferably be rotated or pivoted in two degrees of freedom.
This is a good simulation of the real use of a needle 18 in that a needle may be inserted and then
removed, pivoted, and inserted again.
The human/interface apparatus 12 as exemplified herein is used to simulate a epidural
anesthesia medical procedure. In such a procedure, an operator directs a needle between two
vertebrae in the lower back of a patient, through extremely dense tissue, and into an epidural
space no larger than l/20th of an inch. Thus, in addition to the needle 18, the human/interface
apparatus 12 may include a barrier 22 or other obstruction. The barrier 22 is used to represent a
portion of the skin covering the body of a patient and is used to provide greater realism to the
operator. For example, when inserting a needle 18 into a patient, it is natural for doctors to place
the hand not handling the needle on the skin of the patient when inserting the needle to provide
stability during the procedure. Barrier 22 allows trainees to simulate these types of natural
actions. The shaft portion 28 is inserted into the âbodyâ of the virtual patient at a point 20, which
can simulate the area of the back covering the spine in an epidural anesthesia procedure, or other
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areas of a body in other medical procedures. Barrier 22 can be omitted from apparatus 12 in other
embodiments.
A mechanical interface apparatus 25 for interfacing mechanical input and output is
The shaft portion 28 extends to
mechanical apparatus 25, which provides the mechanical support, degrees of freedom, and force
simulation for needle 18 that realistically simulates an epidural anesthesia or other procedure. For
shown within the "body" of the patient in phantom lines.
example, the needle 18 can preferably move in a linear degree of freedom to simulate inserting the
needle in the skin, and can also preferbly pivot such that the angular position of the needle with
respect to the skin surface can be changed if the needle is inserted at an incorrect angle for a
successful operation. In addition, mechanical apparatus 25 is preferably positioned entirely
behind barrier 22 to allow the greatest realism in the simulation. Needle 18 or other instrument
preferably can pivot about the insertion point 20, where the point 20 is not touching any physical
mechanism of apparatus 25.
Furthermore, since the insertion and manipulation of the anesthesia needle is
accomplished mainly through the sense of feel, the forces provided on tool 18 should be highly
accurate and realistic to properly train anesthesiologists. For example, in epidural anesthesia
procedures, the vast majority of physicians use a technique known as the âloss of resistanceâ
method. The fluid in the syringe (typically a saline solution or air) is retarded by the dense
ligaments as the needle is inserted. The administrator then feels a slight âpopâ as the ligamentum
flavum, the layer positioned just before the epidural space, is punctured due to a slight pressure
drop in the epidural space. The contents of the syringe then ï¬ow freely, gently expanding the
separation of the two tissue layers. Such a procedure is highly dependent on the haptic sense of
the operator and thus a simulation requires realistic motion and precise applied forces. Mechanical
apparatus 25 includes these desired features and is described in greater detail below.
While one embodiment of the present invention will be discussed with reference to the
needle 18, it will be appreciated that a great number of other types of objects can be used with the
method and apparatus of the present invention. In fact, the present invention can be used with
any physical object where it is desirable to provide a human/computer interface with one or more
degrees of freedom. For example, in other simulated medical procedures, such medical tools as
laparoscopes, catheters, other endoscopic surgical tools, or portions thereof, may be provided as
tool 18. The shaft portion 28 can be part of the standard medical tool, or can be added as a linear
member to operate in conjunction with apparatus 25. In other embodiments, the end of the shaft
of the tool (such as any cutting edges) can be removed, since the end is not required for the virtual
reality simulation, and is removed to prevent any potential damage to persons or property. In yet
other embodiments, objects such as styluses, joysticks, screwdrivers, pool cues, wires, fiber
optic bundles, mice, steering wheels, etc., can be used in place of tool 18 for different virtual
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reality, video game, and/or simulation applications. Another example of a user manipulatable
object in use with the present invention is described with reference to Figure 9.
The electronic interface 14 is a component of the human/computer interface apparatus 12
and couples the apparatus 12 to the computer 16. More particularly, interface 14 is used in
preferred embodiments to couple the various actuators and sensors contained in apparatus 12
(which actuators and sensors are described in detail below) to computer 16. A suitable interface
14 is described in detail with reference to Figure 7.
The electronic interface 14 is coupled to mechanical apparatus 25 of the apparatus 12 by
a cable 30 and is coupled to the computer 16 by a cable 32. In other embodiments, signal can be
sent to and from interface 14 and computer 16 by wireless transmission and reception. In some
embodiments of the present invention, interface 14 serves solely as an input device for the
computer 16. In other embodiments of the present invention, interface 14 serves solely as an
output device for the computer 16. In preferred embodiments of the present invention, the
interface 14 serves as an input/output (I/O) device for the computer 16. Electronic interface 14
can be provided in a separate box or housing as shown in Figure 1, or can be included within
mechanical apparatus 25 or within computer 16.
In FIGURE 2a, a schematic diagram of mechanical apparatus 25 for providing mechanical
input and output in accordance with the present invention is shown. Apparatus 25 includes a
gimbal mechanism 38 and a linear axis member 40. A user object 44 is preferably coupled to
linear axis member 40.
Gimbal mechanism 38, in the described embodiment, is a âspherical mechanismâ that
provides support for apparatus 25 on a grounded surface 56 (schematically shown as part of
ground member 46). Gimbal mechanism 38 is preferably a five-member, closed loop linkage that
includes a ground member 46, extension members 48a and 48b, and central members 50a and
50b. Ground member 46 is coupled to a base or surface which provides stability for apparatus
25. Ground member 46 is shown in Figure 2 as two separate members coupled together through
grounded surface 5 6. The members of gimbal mechanism 38 are rotatably coupled to one another
through the use of bearings or pivots, wherein extension member 48a is rotatably coupled to
ground member 46 by bearing 43a and can rotate about an axis A, central member 5021 is rotatably
coupled to extension member 48a by bearing 45a and can rotate about a ï¬oating axis D, extension
member 48b is rotatably coupled to ground member 46 by bearing 43b and can rotate about axis
B, central member 50b is rotatably coupled to extension member 48b by hearing 45b and can
rotate about ï¬oating axis E, and central member 50a is rotatably coupled to central member 50b by
bearing 47 at a center point P at the intersection of axes D and E. Preferably, central member 50a
is coupled to one rotatable portion 47a of bearing 47, andggptral member 50b is coupled to the
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other rotatable portion 47b of bearing 47. The axes D and E are "ï¬oating" in the sense that they
are not fixed in one position as are axes A and B.
Gimbal mechanism 38 is formed as a five member closed chain. Each end of one member
is coupled to the end of another member. The five-member linkage is arranged such that
extension member 48a, central member 50a, and central member 50b move when extension
member 48a is rotated about axis A in a first degree of freedom. The linkage is also arranged
such that extension member 48b, central member 50b, and central member 50a move when
extension member 48b is rotated about axis B in a second degree of freedom. The axes of
rotation are arranged such that they intersect about at a remote pivot point P, which is the center of
the âsphereâ defined by the gimbal mechanism 38. Pivot point P is âremoteâ in the sense that it is
not positioned at (or touching) any member or coupling of the gimbal mechanism 38, but is
positioned in free space away from the mechanism 38 and in another âhemisphereâ, as explained
below. Object 44 can be pivoted or rotated about pivot point P in two degrees of freedom.
Extension members 48a and 48b are angled at points 49 as shown in Figure 2a to allow pivot
point P to be positioned remotely from the gimbal mechanism. In the described embodiment, the
angles 0c are about 100 degrees, but can vary depending on how large a sphere is desired.
Linear axis member 40 is preferably an elongated rod-like member which is coupled to
central member 50a and/or central member 50b and extends approximately through the remote
pivot point P. As shown in Figure 1, linear axis member 40 can be used as shaft 28 of user
object 44 or 18. In other embodiments, linear axis member 40 is coupled to a separate object 44.
Linear axis member 40 is coupled to gimbal mechanism 38 such that it extends out of the plane
defined by axis A and axis B. Linear axis member 40 can be rotated about axis A by rotating
extension member 48a, central member 50a, and central member 50b in a first revolute degree of
freedom, shown as arrow line 51. Member 40 can also be rotated about axis B by rotating
extension member 50b and the two central members about axis B in a second revolute degree of
freedom, shown by arrow line 52. Being also translatably coupled to the ends of central member
50a and/or 50b, linear axis member 40 can be linearly translated, independently with respect to
gimbal mechanism 38, along ï¬oating axis C, providing a third degree of freedom as shown by
arrows 53. Axis C is rotated about the remote pivot point P as member 40 is rotated about this
point. Optionally, a fourth degree of freedom can be provided to object 44 as rotation about axis
C, i.e., a âspinâ degree of freedom.
When object 44 is positioned at the "origin" as shown in Figure 2a, an angle 9 between
the central members 50a and 50b is about 60 degrees in the described embodiment. When object
44 is rotated about one or both axes A and B, central members 50a and 50b move in two fashions:
rotation about axis D or E by bearing 45b and/or 45a, and rotation about axis C by bearing 47
such that angle 6 changes. For example, if the object 44 is moved toward the couplings 45a or
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45b, then the angle 9 will decrease. If the object is moved toward couplings 43a and 43b, the
angle 9 will increase.
Also preferably coupled to gimbal mechanism 38 and linear axis member 40 are
transducers, such as sensors and actuators. Such transducers are preferably coupled at the
couplings or link points between members of the apparatus and provide input to and output from
an electrical system, such as computer 16. Transducers that can be used with the present
invention are described in greater detail with respect to Figure 3.
User object 44 is coupled to apparatus 25 and is preferably an interface object for a user to
grasp or otherwise manipulate in three dimensional (3D) space. One preferred user object 44 is a
needle 18, as shown in Figure 1. Shaft 28 of needle 18 can be implemented as part of linear axis
member 40. Needle 18 may be moved in all three degrees of freedom provided by gimbal
mechanism 38 and linear axis member 40. As user object 44 is rotated about pivot point P and
axis A, ï¬oating axis D varies its position, and as user object 44 is rotated about point P and axis
B, ï¬oating axis E varies its position. Other types of user objects 44 can also be provided for use
with mechanical apparatus 25 as described above.
Thus, the mechanical apparatus 25 fulfills the needs of an epidural anesthesia simulator by
providing three degrees of freedom to user object 44: one degree of freedom for linear translation
of user object along axis C to simulate needle insertion, and two degrees of freedom for angular
positioning of user object about axes A and B to simulate needle orientation. For example, after a
needle is inserted in the virtual patient, the operator may determine that the needle has been
inserted incorrectly. The needle should then be withdrawn and repositioned by pivoting the
needle as allowed by the gimbal mechanism 38. Such degrees of freedom are also useful in a
variety of other applications, described subsequently. Importantly, gimbal mechanism 38
provides a remote pivot point P that is not touching any portion of the gimbal mechanism. This
allows, for example, the mechanism 25 to be entirely placed behind a barrier 22 as shown in
Figure 1.
FIGURE 2b is a schematic drawing of a side view of the mechanical apparatus 25 of
Figure 2a. In Figure 2b, linear axis member 40 is shown movable along axis C. Remote pivot
point P is located at the intersection of axes A, B, D, and E of the gimbal mechanism. The
closed-loop five-member gimbal mechanism 38 is a âspherical mechanismâ, which, as described
herein, is a mechanism that provides two rotational degrees of freedom to the user object 44 and a
spherical workspace and in which the axes of rotation of the mechanism pass through the center
âof the sphere defined by the spherical workspace, i.e., user object 44 can be moved to points in 3-
D space that sweep a surface, or a portion of the surface, of a sphere. For gimbal mechanism 38,
the center of the sphere is remote pivot point P. With the addition of a third linear degree of
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freedom, the gimbal mechanism allows the user object to trace a volume of a sphere rather than
just a surface of a sphere.
Unlike typical spherical mechanisms used for user interface applications, gimbal
mechanism 38 includes a remote pivot point P that does not touch any portion of the gimbal
mechanism. Thus, it is possible to make gimbal mechanism 38 a âhemispherical mechanismâ,
i.e., the gimbal mechanism 38 is positioned entirely within one hemisphere of the sphere. This is
demonstrated by dashed line 60, which designates a line extending through the center of a sphere,
which is at pivot point P. The entire gimbal mechanism38 is on one side of line 60, while the
user manipulable object 44 is on the other side of point P and line 60 (except, of course, shaft 28,
which must connect the user object 44 with the mechanical apparatus 25). This allows user object
44 afull range of movement in its own hemisphere without being obstructed by any portions of
the mechanical apparatus 25.
The hemispherical nature of gimbal mechanism 38 allows a realistic simulation apparatus
to be provided. For example, a barrier 20 such as shown in Figure 1 can be placed at or near the
pivot point P so that the entire mechanical apparatus 25 is hidden from view and protected. This
allows an operator to easily place a hand on the barrier to support the needle insertion without
touching the gimbal mechanism. Also, since pivot point P of the shaft 28 of the needle is
provided at the point of needle insertion, the needle can be pivoted without requiring a large
opening in the barrier. The operation of the mechanism 25 can be completely obscured from the
operator without hindering the motion of the user object 44, thus greatly adding to the realism of
the simulated medical procedure.
The apparatus 25 can also be used for other applications besides the simulation of medical
procedures such as epidural anesthesia. One application can be games or virtual reality (non-
medical) simulations, where user object 44 can be a joystick or other object for manipulating 2- or
3-D environments. In addition, any apparatus that can make use of a gimbal mechanism that is
contained within one side or hemisphere of the sphere or which can be fully enclosed behind a
plane or surface is applicable to the present invention. One such apparatus might be a mechanism
that is positioned below ground or under/behind a protective enclosure and which is used to direct
a laser beam or projectile (e.g., a liquid projectile such as water from a water hose, or a solid
projectile). For example, a laser may include a mechanical apparatus 25 that is positioned behind
its pivot point P and can be used to digitize or project 3-D images using spherical coordinates of
the gimbal mechanism. Alternatively, a real medical instrument can be attached to the gimbal
mechanism for performing operations on live patients under computer computer or under remote
control from a doctor using a master implement (e.g., the master implement can also be a gimbal
mechanism of the present invention to allow teleoperation of the operating instrument).
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FIGURE 3 is a perspective view of a specific embodiment of a mechanical apparatus 25 â
for providing mechanical input and output to a computer system in accordance with the present
invention. Apparatus 25' includes a gimbal mechanism 62, a linear axis member 64, and
transducers 66. A user object 44, shown in this embodiment as a needle 18, is coupled to
apparatus 25'. Apparatus 25' operates in substantially the same fashion as apparatus 25 described
with reference to Figures 2a and 2b.
Gimbal mechanism 62 provides support for apparatus 25' on a grounded surface 56, such
as a table top or similar surface. The members and joints (âbearingsâ) of gimbal mechanism 62
are preferably made of a lightweight, rigid, stiff metal, such as aluminum, but can also be made of
other rigid materials such as other metals, plastic, etc. Gimbal mechanism 62 includes a ground
member 70, capstan hand drive mechanisms 72, link members 74a and 74b, central members 76a
and 76b. Ground member 62 includes a base member 78 and support members 80. Base
member 78 is coupled to grounded surface 56. Support members 80 are coupled to base member
78 and are preferably angled as shown in Figures 3, 4a, and 4b.
A capstan band drive mechanism 72 is preferably coupled to each support member 62.
Capstan hand drive mechanisms 72 are included in gimbal mechanism 62 to provide mechanical
advantage without introducing friction and backlash to the system. A drum 82 of each band drive
mechanism is rotatably coupled to a corresponding support member 80 to form axes of rotation A
The capstan band drive
mechanisms 72 are described in greater detail with respect to Figures 5a and 5b.
and B, which correspond to axes A and B as shown in Figure 1.
Link member 74a is rigidly coupled to capstan drum 82a and is rotated about axis A as
drum 82a is rotated. Likewise, link member 74b is rigidly coupled to drum 82b and can be
rotated about axis B. Thus, in apparatus 25â, link member 74a and drum 82a together form the
extension member 48a shown in Figure 2a, and link member 74b and drum 82b together form the
extension member 48b. Central member 76a is rotatably coupled to the other end of link member
74a. Similarly, central member 76b is rotatably coupled to the end of link member 74b. Central
members 76a and 76b are rotatably coupled to each other at their other ends at a bearing 84,
through which axis C preferably extends. A ï¬oating axis of rotation D is located at the coupling
of link member 74a and central member 76a, and a ï¬oating axis of rotation E is located at the
coupling of link member 74b and central member 76b. A pivot point P is provided at the
intersection of axes A, B, D, and E.
Gimbal mechanism 62 provides two degrees of freedom to an object positioned at or
coupled to the remote pivot point P. An object 44 can be rotated point P in the degrees of freedom
about axis A and B or have a combination of rotational movement about these axes. As explaind
above, point P is located remote from gimbal mechanism 62 such that point P does not touch any
portion of the gimbal mechanism 62.
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Linear axis member 64 is a member that is preferably coupled to central member 76b.
Alternatively, member 64 can be coupled to central member 76a. Member 64 extends through a
open aperture in the center of bearing 84 and through apertures in the ends of central members 76a
and 76b. The linear axis member can be linearly translated along axis C, providing a third degree
of freedom to user object 44 coupled to the linear axis member. Linear axis member 64 (or a
portion thereof) can preferably be translated by a transducer 66c using a capstan band drive
mechanism. The translation of linear axis member 64 is described in greater detail with respect to
Figures 6aâ6b.
Transducers 66a, 66b, and 66c are preferably coupled to gimbal mechanism 62 to provide
In the described
embodiment, transducer 66a includes a grounded actuator 86a and a sensor 87a, transducer 66b
input and output signals between mechanical apparatus 25â and computer 16.
includes a grounded actuator 86b and a sensor 87b, and central transducer 66c includes an
actuator 86c and a sensor 87c. The housing of grounded transducer 66a is preferably coupled to a
support member 80 and preferably includes both an actuator for providing force or resistance in
the first revolute degree of freedom about point P and axis A and a sensor for measuring the
position of object 44 in the first degree of freedom about point P and axis A, i.e., the transducer
66a is "associated with" or "related to" the first degree of freedom. A rotational shaft of actuator
66a is coupled to a spindle of capstan band drive mechanism 72 to transmit input and output along
the first degree of freedom. The capstan band drive mechanism 72 is described in greater detail
with respect to Figure 5aâ5c. Grounded transducer 66b preferably corresponds to grounded
transducer 66a in function and operation. Transducer 66b is coupled to the other support member
80 and is an actuator/sensor which inï¬uences or is inï¬uenced by the second revolute degree of
freedom about point P and axis B.
Sensors 87a, 87b, and 87c are preferably relative optical encoders which provide signals
to measure the angular rotation of a shaft of the transducer. The electrical outputs of the encoders
are routed to computer interface 14 by buses (not shown) and are detailed with reference to Figure
7. For example, 500 count encoders such as the HP-HEDSâ5500-A02 from HewlettâPacl<ard can
be used, or other encoders having higher resolution. Other types of sensors can also be used,
such as potentiometers, etc. In addition, it is also possible to use nonâcontact sensors at different
positions relative to mechanical apparatus 25. For example, a Polhemus (magnetic) sensor can
detect magnetic fields from objects; or, an optical sensor such as lateral effect photo diode
includes a emitter/detector pair that detects positions of the emitter with respect to the detector in
one or more degrees of freedom. These types of sensors are able to detect the position of object
44 in particular degrees of freedom without having to be coupled to a joint of the mechanical
apparatus. Alternatively, sensors can be positioned at other locations of relative motion or joints
of mechanical apparatus 25â.
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It should be noted that the present invention can utilize both absolute and relative
sensors. An absolute sensor is one which the angle of the sensor is known in absolute terms,
such as with an analog potentiometer. Relative sensors only provide relative angle information,
and thus require some form of calibration step which provide a reference position for the relative
angle information. The sensors described herein are primarily relative sensors. In consequence,
there is an implied calibration step after system power-up wherein the sensor's shaft is placed in a
known position within the apparatus 25' and a calibration signal is provided to the system to
provide the reference position mentioned above. All angles provided by the sensors are thereafter
relative to that reference position. Such calibration methods are well known to those skilled in the
art and, therefore, will not be discussed in any great detail herein.
The actuators 86a, 86b, and 86c of transducers 66 can be of two types: active actuators
and passive actuators. Active actuators include linear current control motors, stepper motors,
pneumatic/hydraulic active actuators, and other types of actuators that transmit a force to move an
object. For example, active actuators can drive a rotational shaft about an axis in a rotary degree
of freedom, or drive a linear shaft along a linear degree of freedom. Active transducers of the
present invention are preferably bi-directional, meaning they can selectively transmit force along
either direction of a degree of freedom. For example, DC servo motors can receive force control
In the
described embodiment, active linear current control motors, such as DC servo motors, are used.
signals to control the direction and torque (force output) that is produced on a shaft.
The control signals for the motor are produced by computer interface 14 on control buses (not
shown) and are detailed with respect to Figure 7. The motors may include brakes which allow the
rotation of the shaft to be halted in a short span of time. Also, the sensors and actuators in
transducers 66 can be included together as sensor/actuator pair transducers. A suitable transducer
for the present invention including both an optical encoder and current controlled motor is a 20 W
basket wound servo motor manufactured by Maxon. In other embodiments, all or some of
transducers 66 can include only sensors to provide an apparatus without force feedback along
designated degrees of freedom.
In alternate embodiments, other types of motors can be used, such as a stepper motor
controlled with pulse width modulation of an applied voltage, pneumatic motors, brushless DC
motors, pneumatic/hydraulic actuators, a torquer (motor with limited angular range), or a voice
coil. Stepper motors and the like are not as well suited because stepper motor control involves the
use of steps or pulses which can be felt as pulsations by the user, thus corrupting the virtual
simulation. The present invention is better suited to the use of linear current controlled motors,
which do not have this noise.
Passive actuators can also be used for actuators 86a, 86b, and 86c Magnetic particle
brakes, friction brakes, or pneumatic/hydraulic passive actuators can be used in addition to or
instead of a motor to generate a passive resistance or friction in a degree of motion. However,
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active actuators are often preferred for simulations of medical procedures, since the force of tissue
on a medical instrument can often cause a âspringyâ feel which cannot be simulated by passive
actuators. In addition, passive actuators also cannot provide gravity compensation (as described
below), inertial compensation, and/or frictional compensation forces. Although an alternate
embodiment only including passive actuators may not be as realistic as an embodiment including
motors, the passive actuators are typically safer for a user since the user does not have to fight
generated forces. Passive actuators typically can only provide biâdirectional resistance to a degree
of motion. A suitable magnetic particle brake for interface device 14 is available from Force
Limited, Inc. of Santa Monica, California.
Central transducer 66c is coupled to central link member 76b and preferably includes an
actuator 860 for providing force in the linear third degree of freedom along axis C and a sensor
87c for measuring the position of object 44 along the third linear degree of freedom. The shaft of
central transducer 88 is coupled to a translation interface coupled to central member 76b which is
described in greater detail with respect to Figures 6aâ6b. In the described embodiment, central
transducer 66c is an optical encoder and DC servo motor combination similar to the transducers
66a and 66b described above. In an alternate embodiment, transducer 66c can be coupled to
ground 56 using, for example, a ï¬exible transmission system such as a shaft or belt between a
drive spindle 92 (shown in Fig. 5a) and the transducer 66c. Such an embodiment is advantageous
in that the weight of transducer 66c is not carried by the user when manipulating object 44.
The transducers 66a and 66b of the described embodiment are advantageously positioned
to provide a very low amount of inertia to the user handling object 44. Transducer 66a and
transducer 66b are decoupled, meaning that the transducers are both directly coupled through
supports 80 to ground member 70, which is coupled to ground surface 56, i.e., the ground
surface carries the weight of the transducers, not the user handling object 44. The weights and
inertia of the transducers 66a and 66b are thus substantially negligible to a user handling and
moving object 44. This provides a more realistic interface to a virtual reality system, since the
computer can control the transducers to provide substantially all of the forces felt by the user in
these degrees of motion. Apparatus 25 ' is a high bandwidth force feedback system, meaning that
high mechanical stiffness is provided for realistic forces and that high frequency signals can be
used to control transducers 66 and these high frequency signals will be applied to the user object
with high precision, accuracy, and dependability. The user feels very little compliance or
"mushiness" when handling object 44 due to the high bandwidth. In contrast, in many prior art
arrangements of multiâdegree of freedom interfaces, one actuator âridesâ upon another actuator in
a serial chain of links and actuators. This low bandwidth arrangement causes the user to feel the
inertia of coupled actuators when manipulating an object.
In other embodiments, the linear axis member can include additional sensors and/or
actuators for measuring the position of and providing forces to object 44 in additional degrees of
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freedom. For example, a shaft transducer can be positioned on linear axis member 64 to measure
the rotational position of object 44 about axis C in a fourth âspinâ degree of freedom. The
transducer can be an optical encoder as described above. For typical medical procedures, which
is one intended application for the embodiment shown in Figures 3 and 4, rotational force
feedback to a user about axis C is typically not required to simulate actual operating conditions.
However, in alternate embodiments, an actuator such as a motor can be included in such a shaft
transducer similar to transducers 86a, 86b, and 88 to provide forces on object 44 in the fourth
degree of freedom.
Object 44 is shown in Figure 3 as a needle 18 as shown in Figure 1. Shaft portion 28 is
coupled to and included as linear axis member 64. An adapter can be provided to engage the shaft
28 with the linear axis member 64 of the mechanism. A user can rotate the needle 18 about point
P on axes A and B, and can translate the needle along axis C through point P. The movements in
the three degrees of freedom will be sensed and tracked by computer system 16. Forces can be
applied preferably in the three degrees of freedom by the computer system to simulate the tool
impacting a portion of the subject body, experiencing resistance moving through tissues, etc.
Optionally, a user also can spin needle 18 about axis C in a fourth degree of freedom.
Figure 3 also shows a plunger actuation mechanism 88 for providing forces on plunger 27
of needle 18. In the described embodiment, an additional actuator 89 is coupled to a needle mount
91 on linear axis member 64 by a hose 93. Preferably, actuator 89 is a binary solenoid valve that
either allows a fluid (e.g., a liquid or gas) to flow (when open) or blocks the ï¬ow of ï¬uid (when
closed). For example, a clippard minimatic ET ~2-12 valve is suitable. The valve 89 is coupled to
computer 16 by a bus and may be opened or closed by the computer 16. A passage is provided
from the interior of needle 18, through shaft 28, through needle mount 91, and through hose 93.
Thus, the computer can open or close valve 89 to allow a ï¬uid to ï¬ow to release pressure on the
plunger 27 or to block fluid ï¬ow and provide a feeling of pressure on the plunger 27. The binary
valve allows the apparatus 25â to simulate the condition of pressure on plunger 27 in an epidural
anesthesia procedure, where the pressure is typically close to being either âonâ (before the space
where ï¬uid is injected is reached) or âoffâ (when the needle has reached the space to inject ï¬uid).
A reservoir (not shown) can be added to the valve to handle liquid ï¬ow. In alternate
embodiments, a valve allowing variable control of ï¬uid flow can be provided. In other
embodiments, an active actuator can be coupled to needle 18 to actively simulate the ï¬ow of a
fluid through the needle, i.e., no ï¬uid need actually be provided, since the actuator could provide
forces that feel as if a liquid were present. For example, a linear actuator such as a linear voice
coil can be used. In yet other embodiments, a sensor can be provided to track the position of the
plunger 27 relative to the housing 29 and/or to detect when the user pushes or pulls on the
plunger.
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Optionally, additional transducers can be added to apparatus 25â to provide additional
degrees of freedom for object 44. For example, a laparoscopic tool and catheter can be used as
the user object and may require additional degrees of freedom. In yet other embodiments, ï¬exible
members and/or couplings can be used in the embodiment of Figure 2a or 3.
In an alternate embodiment, the gimbal mechanism 62 can be omitted and a single linear
degree of freedom along axis C can be provided for the user object 44. For example, in some
epidural anesthesia simulations, the angular positioning of the needle 18 may not be needed, and
only the insertion and retraction of the needle can be simulated. In such an embodiment, the linear
axis member 64 and transducer 86c can be used to provide forces in the linear degree of freedom.
(e.g., the chassis 124 of the linear axis member 64 can be mounted to ground and the needle 18
can be translated along the one degree of freedom allowed by slide 64).
FIGURES 4a and 4b are a front elevation View and a top plan view, respectively, of
mechanical apparatus 25â of Figure 3. In Figure 421, it is shown that axes A and E are aligned
when viewing them from the front, as are axes B and D. In the top plan view of Figure 4b, user
object 44 (in this case needle 18) is shown coupled to linear axis member 64. Pivot point P is
positioned remotely from mechanical apparatus 25â such that the apparatus 25â is positioned
entirely on one side of the pivot point P and user object 44 is positioned on the other side of the
pivot point as demonstrated by dashed line 90.
FIGURE 5a is a perspective view of a capstan band drive mechanism 72 of the present
invention shown in some detail. As an example, the drive mechanism 72 coupled to link member
74b is shown; the other capstan drive 72 coupled to link member 74a is substantially similar to the
mechanism presented here. Capstan band drive mechanism 72 includes drum 82, spindle (or
âcapstanâ) 92, and stop 94. Drum 82 is preferably a wedge-shaped member having leg portion
96 and a curved portion 98. Other shapes of drum 82 can also be used. Leg portion 96 is
pivotally coupled to support member 80 at axis B (or axis A for the other band drive mechanism
72). Curved portion 84 couples the two ends of leg portion 82 together and is preferably formed
in an are centered about axis B. Curved portion 84 is preferably positioned such that its bottom
edge 86 is about 0.030 inches below spindle 92. Link member 74b is rigidly coupled to curved
portion 98 such that when drum 82 is rotated about axis B, link member 74b is also rotated.
Spindle 92 is a cylindricallyâshaped roller rigidly coupled to a shaft of actuator 86b that is
used to transfer torque to and from actuator 86b. In a preferred embodiment, spindle 92 is about
0.75â in diameter, but can be other sizes in other embodiments. Bands 100a and l00b are
preferably thin metal bands, made of materials such as stainless steel, and which are connected to
spindle 92. For example, 1/4â wide and 0.0005â or 0.001â thick bands are suitable for the
present invention. Band 100a is attached at a first end to spindle 92, is drawn tightly against the
outer surface 102 of curved portion 98, and is coupled at its other end to a leg portion 96 by a
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fastener 104a. Likewise, band l0Ob is attached at a first end to spindle 92, offset from band 100a
on the spindle. Band l0Ob is wrapped around spindle 92 in the opposite direction to band 100a,
is drawn in the opposite direction to band 100a tightly against the outer surface 102 of curved
portion 98, and is coupled at its other end to a leg portion 96 by a fastener 104b.
Spindle 92 is rotated by actuator 86b, and bands 100a and l0Ob transmit the rotational
force from spindle 92 to the drum 82, causing drum 82 to rotate about axis B. As shown in
FIGURE 5b, band l0Ob is attached to spindle 92 at point 101, is wrapped around the spindle
clockwise, and is extended along the surface of curved portion 98. Thus, when the spindle 92 is
rotated in a counterclockwise direction by actuator 86a, then band l0Ob pulls on one side of drum
82, thus rotating the drum clockwise about axis B as shown by arrow 103. The bands 100a and
l0Ob also transmit rotational position (e.g., when the user object is moved by the user) from
drum 82 to the spindle 92 and thus to sensor 87b so that the position of the user object is sensed.
The tension in bands 100a and l0Ob should be at a high enough level so that negligible backlash
or play occurs between drum 82 and spindle 92. Preferably, the tension of bands 100a and l0Ob
can be adjusted by pulling more (or less) band length through fastener 104 and 104b, as explained
below in Figure 5c.
Spindle 92 is a metal cylinder which transfers rotational force from actuator 86b to capstan
drum 82 and from capstan drum 82 to sensor 87b. Spindle 92 is rotationally coupled to
transducer 66b by a shaft (not shown), and the transducer is rigidly attached to support member
80. Rotational force (torque) is applied from actuator 86b to spindle 92 when the actuator rotates
the shaft. The spindle, in turn, transmits the rotational force to bands 100a and l0Ob and thus
forces capstan drum 82 to rotate in a direction about axis B. Link member 74b rotates with drum
82, thus causing force along the second degree of freedom for object 44. Note that spindle 92,
capstan drum 82 and link member 74b will only physically rotate if the user is not applying the
same amount or a greater amount of rotational force to object 44 in the opposite direction to cancel
the rotational movement. In any event, the user will feel the rotational force along the second
degree of freedom in object 44 as force feedback.
Stop 106 is rigidly coupled to support member 80 below curved portion 98 of capstan
drum 82. Stop 106 is used to prevent capstan drum 82 from moving beyond a designated angular
limit. Thus, drum 82 is constrained to movement within a range defined by the arc length
between the ends of leg portion 96. This constrained movement, in turn, constrains the
movement of object 44 in the first two degrees of freedom. In the described embodiment, stop
106 is a cylindrical member inserted into a threaded bore in support member 80 and is encased in
a resilient material, such as rubber, to prevent impact damage with drum 82.
The capstan drive mechanism 72 provides a mechanical advantage to apparatus 25 ' so that
the: force output of the actuators can be increased. The ratio of the diameter of spindle 92 to the
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diameter of capstan drum 82 (i.e., double the distance from axis B to the edge 102 of capstan
drum 82) dictates the amount of mechanical advantage, similar to a gear system. In the described
embodiment, the ratio of drum to spindle is equal to 15:1, although other ratios can be used in
other embodiments.
Similarly, when the user moves object 44 in the second degree of freedom, link member
74b rotates about axis B and rotates drum 82 about axis B as well. This movement causes bands
100a and l00b to move, which transmits the rotational force/position to spindle 92. Spindle 92
rotates and causes the shaft of actuator 86a to rotate, which is also coupled to sensor 87b. Sensor
87b thus can detect the direction and magnitude of the movement of drum 82. A similar process
occurs along the first degree of freedom for the other hand drive mechanism 72. As described
above with respect to the actuators, the capstan band drive mechanism provides a mechanical
advantage to amplify the sensor resolution by a ratio of drum 82 to spindle 92 (l5:1 in the
described embodiment).
In alternate embodiments, a single band can be used instead of two bands 100a and lO0b.
In such an embodiment, the single band would be attached at one fastener 104a, drawn along
surface 102, wrapped around spindle 92, drawn along surface 102, and attached at fastener 104b,
In alternate embodiments, a capstan cable drive can be used, where a cable, cord, wire,
etc. can provide the drive transmission from actuator to user object instead of or in addition to
bands 100. A cable 80 can be wrapped around the spindle a number of times and is then again
drawn tautly against outer surface 102. The second end of the cable is firmly attached to the other
end of the curved portion near the opposite leg of leg portion 96.
Band drive mechanism 72 is advantageously used in the present invention to provide high
bandwidth transmission of forces and mechanical advantage between transducers 66a and 66b and
object 44 without introducing substantial compliance, friction, or backlash to the system. A
capstan drive provides increased stiffness, so that forces are transmitted with negligible stretch
and compression of the components. The amount of friction is also reduced with a band drive
mechanism so that substantially "noiseless" tactile signals can be provided to the user. In
"Backlash" is the
amount of play that occurs between two coupled rotating objects in a gear or pulley system.
addition, the amount of backlash contributed by a band drive is negligible.
Gears other types of drive mechanisms could also be used in place of hand drive mechanism 72 in
alternate embodiments to transmit forces between transducer 66a and link member 74b.
However, gears and the like typically introduce some backlash in the system. In addition, a user
might be able to feel the interlocking and grinding of gear teeth during rotation of gears when
manipulating object 44; the rotation in a band drive mechanism is much less noticeable.
The use of bands 100a and l00b in a force feedbackliï¬terface mechanism provides higher
performance than other drive transmission systems such as the cable drive described in co-
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pending patent application 08/374,288. Since each band 100a and 100b is attached to spindle 92,
the tension of the bands does not need to be as high as in a system having one cable or band that
stretches from fastener 104a to l04b. Thus, considerable assembly time is saved when using
bands 100a and 100b rather than a cable.
deï¬ection as the capstan turns which is minimized in the band drives of the present invention.
There is also energy loss associated with cable
When using a hand drive system as described, the bands wrap around themselves on
spindle 92, i.e., the spindle in effect grows in circumference. Band stretch is thus of possible
concern; however, the stretch has been found to be well within the limits of the strain capabilities
of the bands. In addition, there is a tendency for the drum 82 to spring back to the center of
travel, where the band stretch is at its lowest. However, there are several ways to compensate for
this spring effect. In the preferred embodiment, control software implemented by the computer
16 compensates for the stretch springiness by computing an equal and opposite force to the spring
force based, for example, on a spring constant of the band or a value form a look up table. In
other embodiments, the bands 100a and 100b can be wrapped diagonally on spindle 92 so that the
bands never wrap around themselves. However, this requires a wider spindle and a less compact
mechanism. Alternatively, a spring can be provided on spindle 92 to compensate for the stretch
of the bands 100a and 100b.
FIGURE 5c is a detail perspective View of hand drive mechanism 72. Band 100b is
shown routed on curved portion 98 of drum 82 between spindle 92 and fastener l04b. In the
described embodiment, fastener l04b is a clamp which holds the end 110 of band 100b as
controlled by tension. The tension between the clamp is controlled by tension screws 112. In
addition, the fastener l04b can preferably be moved in either direction shown by arrow 116 to
further tighten the band 100b. In the described embodiment, tension screws 114 can be adjusted
to move the fastener in either direction as desired.
FIGURES 6a and 6b are perspective views of linear axis member 64 and central
transducer 66c shown in some detail. In the described embodiment, linear axis member 64 is
implemented as a moving slide in a linear bearing 120. Linear bearing 120 includes slide 122 and
exterior chassis 124. In the described embodiment, linear bearing 120 is a ball slide bearing that
allows slide 122 to linearly translate within chassis 124 with minimal friction. A suitable ball
slide linear bearing is available from Detron Precision, Inc. Other types of linear bearings can be
used in other embodiments, such as Rolamite bearings, crossed roller linear bearings, and
recirculating ball linear bearings.
Central transducer 66c is coupled to the linear bearing 120 by a mount 126. Mount 126 is
also coupled to one of the central members 74a or 74b to attach the linear axis member 64 to the
gimbal mechanism 62. In the described embodiment, a capstan band drive mechanisml28 is used
to transmit forces between transducer 66c and slide 122 along the linear third degree of freedom.
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A spindle 130 is coupled to the shafts of the actuator 86c and sensor 87c such that the spindle is
positioned just above the slide 122, and is similar to spindle 92 of capstan hand drive mechanism
72 shown in Figureâ5a. A band 132a is coupled at one end to spindle 130, is wrapped around the
spindle, is routed along the ball slide 122, and is tightly secured at its other end to fastener 134a,
which is coupled to the slide 122. Likewise, band 132b is coupled at one end to spindle 130
offset from band 132a, is wrapped around spindle 130 in the opposite direction to band 132a, is
routed along the opposite direction to band 132a on the slide, and is secured at fastener 134b,
which is coupled to the slide 122 (band 132b is better shown in Figure 6b). The bands 132a and
l32b and spindle 130 operate similarly to the band drive of Figure 5a to provide a very smooth,
low friction, high bandwidth force transmission system for precise movement of linear axis
member 64 and accurate position measurement of the member 64. Figure 6a shows the limit to
the slide 122 movement at one end of the movement range, and Figure 6b shows the limit of the
slide movement at the other end of the range. Fasteners 134a and 134b are preferably clamps
similar to the clamps described for Figure 5a.
Using the capstan band drive mechanism 128, transducer 66c can translate linear axis
member 64 (slide 122) along axis C when the spindle is rotated by the actuator 86c. Likewise,
when linear axis member 64 is translated along axis C by the user manipulating the object 44,
spindle 130 is rotated by bands 132a and 132b; this rotation is detected by the sensor 87c.
In other embodiments, other types of drive mechanisms can be used to transmit forces to
linear axis member and receive positional information from member 64 along axis C. For
example, a drive wheel made of a rubber-like material or other frictional material can be positioned
on ball slide 122 to contact linear axis member 64 along the edge of the wheel and thus convert
linear motion to rotary motion and vice-versa. The wheel can cause forces along member 64 from
the friction between wheel and linear axis member. Such a drive wheel mechanism is disclosed in
U.S. Patent No. 5,623,582. The drive mechanism can also be implemented in other ways, as
explained above, as explained above with respect to Figure 5a.
In yet other embodiments, a fourth degree of freedom can be provided to object 44 by
sensing and/or actuating spin of linear axis member 64 about axis C.
FIGURE 7 is a block diagram a computer 16 and an interface circuit 150 used in interface
14 to send and receive signals from mechanical apparatus 25. The interface circuit includes an
In this
embodiment, the interface 14 between computer 16 and mechanical apparatus 25 as shown in
interface card 152, DAC 154, power amplifier circuit 156, and sensor interface 158.
Figure 1 can be considered functionally equivalent to the interface circuits enclosed within the
dashed line in Figure 7. Other types of interfaces 14 can also be used. For example, an electronic
interface is described in U.S. PatentNo. 5,576,727. The electronic interface described therein has
six channels corresponding to the six degrees of freedom of a mechanical linkage.
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Interface card 152 is preferably a card which can fit into an interface slot of computer 16.
For example, if computer 16 is an IBM AT compatible computer, interface card 14 can be
implemented as an ISA, VESA, PCI or other standard interface card which plugs into the
motherboard of the computer, provides input and output ports connected to the main data bus of
the Acomputer, and may include memory, interface circuitry, and the like. In alternate
embodiments, no interface card 152 need be used, and a direct interface bus can be provided from
interface 14 and computer 16. For example, a serial interface such as RS-232, Universal Serial
Bus (USB), or Firewire can be used to connect a serial port or parallel port of computer 16 to
interface 14. Also, networking hardware and protocols, such as ethemet, can also be used.
Digital to analog converter (DAC) 154 is coupled to interface card 152 and receives a
digital signal from computer 16. DAC 154 converts the digital signal to analog voltages which are
then sent to power ampliï¬er circuit 156. Power amplifier circuit 156 receives an analog lowâ
power control voltage from DAC 154 and amplifies the voltage to control actuators of the
mechanical apparatus 25. Sensor interface 158 receives and converts signals from sensors 162 to
a form appropriate for computer 16, as described below.
Mechanical apparatus 25 is indicated by a dashed line in Figure 7 and includes actuators
160, sensors 162, and mechanisms 62 and 64. Actuators 160 can one or more of a variety of
types of actuators, such as the DC motors 86a, 86b, and 86c, passive actuators, valve 89, and
any additional actuators for providing force feedback to a user manipulated object 44 coupled to
mechanical apparatus 25. The computer 16 determines appropriately scaled digital values to send
to the actuators. Actuators 160 receive the computer signal as an amplified analog control signal
from power amplifier 156.
Sensors 162 are preferably digital sensors that provide signals to computer 16 relating the
position of the user object 44 in 3D space. In the preferred embodiments described above,
sensors 162 are relative optical encoders, which are electroâoptical devices that respond to a
shaftâs rotation by producing two phaseârelated signals and outputting those signals to sensor
interface 158. In the described embodiment, sensor interface circuit 158 is preferably a single
chip that converts the two signals from each sensor into another pair of clock signals, which drive
a bi-directional binary counter. The output of the binary counter is received by computer 16 as a
binary number representing the angular position of the encoded shaft. Such circuits, or equivalent
circuits, are well known to those skilled in the art; for example, the Quadrature Chip from Hewlett
Packard, California performs the functions described above.
Alternatively, analog sensors can be included instead of or in addition to digital sensors
162, such as potentiometers. Or, a strain gauge can be connected to the user object 44 to measure
forces. Analog sensors 132 provide an analog signal representative of the position of the user
object in a particular degree of motion. In such an embodiment, sensor interface 158 includes an
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analog to digital converter (ADC) 134 to convert the analog sensor signal to a digital signal that is
received and interpreted by computer 16, as is well known to those skilled in the art.
Mechanisms 62 and 64 interface the movement and forces between the user object 44 and
the sensors and actuators. From the mechanical movement of the mechanisms 62 and 64, the
computer 16 receives inputs in z(t) (linear axis), ¢(t) and \ll(â[) (rotational axes). Using the
mechanical movement of the mechanisms 62 and 64, computer 16 outputs forces on the user
object in these same degrees of freedom.
Other input devices can also be included on user object 44 or on mechanical apparatus 25
to allow the user to input additional commands. For example, buttons, levers, dials, etc. can
input signals to interface 14 to inform the computer 16 when these input devices have been
activated by the user.
In other embodiments, the interface 14 can be included in computer 16 or in mechanical
apparatus 25. In yet other embodiments, the interface 14 can include a separate, local
microprocessor that is dedicated to handling much of the force feedback functionality of the
mechanical apparatus 25 independently of computer 16.
FIGURE 8 is a flow diagram illustrating a process of controlling mechanical interface
apparatus 25 â in the simulation of an epidural anesthesia procedure. Similar or other procedures
well known to those skilled in the art can also be implemented in the simulation of other activities,
procedures,other medical procedures, games, etc., and with the use of other types of user objects
44.
When training an anesthesiologist using the simulator of the present invention, the trainee
will typically practice the initial stages of the procedure on a patient or other conventional testing
means, i.e., the trainee learns from an instructor how to place the patient on the operating table
and locate the point of insertion about halfway between the vertebrae L4 and L5. At this point,
the trainee can move over to the mechanical apparatus 25â and practice the remainder of the
procedure.
When operating the mechanical interface apparatus 25â, the trainee aims the needle 18
approximately 10° toward the head of the patient (which can be displayed on a computer monitor
or head mounted display). When appropriate needle position is attained, needle insertion is
begun. Various forces are provided on the needle as it is inserted depending on the distance and
direction of travel through simulated tissue, as explained below.
The process begins at 202, and in step 204, the computer 16 and the mechanical interface
apparatus 25â are powered up. Various initialization procedures can be performed at this stage for
the components of the apparatus, as is well known to those skilled in the art. In step 206, the
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In the
described embodiment, the computer 16 receives digital data from sensors 87a, 87b, and 87c,
computer 16 retrieves sensor data from the sensors 162 of the interface apparatus.
which are preferably rotary optical encoders. In step 208, the position and state of the needle is
determined using the sensor data retrieved in step 206. The tip of shaft 28 of the needle 18 can be
any designated point along shaft 28, and is preferably designated to be the point where the shaft
28 is coupled to needle mount 91. The needle tip is known to be a predetermined distance and
angle from the links and members of the mechanical apparatus and its position can thus be
The âstateâ of the needle includes whether the needle is
advancing into the simulated tissue of the patient or being retracted from the tissue. In addition,
calculated from the sensor data.
the calculation of the angular position of each link of the apparatus 25â can be performed in this
step. Although not necessary in the preferred embodiment, calculations in other embodiments can
include compensations for the increased diameters of spindles 92 as the bands 100 wrap around
themselves.
As an example, some equations which can be used for calculating angular positions and
other parameters for apparatus 25 are provided below. Other equations may be used in other
embodiments or procedures.
GPL1Ci[O]= -3.4166136
GPLlCi[l]= -.57972769
GPL1Ci[2]= -3.6375004
GPL2Ci[0]= â.9l648391
GPL2Ci[1]= .91648394
GPL2Ci[2]= -4.0090091
GPL3Ci[O]= .O19861093 (or .7503483l without linear axis installed)
GPL3Ci[1]= -.83162973 (or .7241l278 without linear axis installed)
GPL3Ci[2}= â5.5056730 (or â4.3687943 without linear axis installed)
GPL4Ci[0]= 3.4108646
GPL4Ci[1]= â.57850482
GPL4Ci [2]= -3 .6279608
vector from link 1's coordinate system to center of mass of link 1
L1PL1C[0]=(.730l728566*GPL1'Ci[O]â.19565351335*GPL1Ci[1]-.654655342*GPL1Ci[2]);
L1PL1C[1]=(.3030677254*GPL1Ci[0]â.765974189*GPL1Ci[1]+.566949392*GPL1Ci[2]);
L1PL1C[2}=(-.6123769025*GPL1Ci[O]-.612372205*GPL1Ci[1]-.5*GPLlCi[2]);
vector from link 2's coordinate system to center of mass of link 2
L2PL2C[0]=(â.7071*GPL2Ci[0]â.7071 *GPL2Ci[1]+O*GPL2Ci[2]);
L2PL2C[1]=(â.5*GPL2Ci[0]+.5*GPL2Ci[1]+.707l *GPL2Ci[2]);
L2PL2C[2]=(-.5 *GPL2Ci[0]+.5 *GPL2Ci[1]+.7071*GPL2Ci[2]);
vector from link 3's coordinate system to center of mass of link 3
L3PL3C[0]=(.707l *GPL3Ci[0]-.7071*GPL3Ci[l]+0*GPL3Ci[2]);
L3PL3C[1]=(-.7071*GPL3Ci[O]-.7071*GPL3Ci[1]+O*GPL3Ci[2]);
I_.3PL3C[2]=(0*GPL3Ci[0]-l .4084988*GPL3Ci[1]â1*GPL3Ci[2]);
vector from link 4's coordinate system to center of mass of link 4
L4PL4C[O]=(-.73017*GPL4Ci[O]-.195649*GPL4Ci[1]-.65465 *GPL4Ci[2]);
L4PL4C[1]=(-.46567*GPL4Ci{0]+.843626*GPL4Ci[1]+.26725 8*GPL4Ci[2]);
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L4PL4C[2]=(.5*GPL4Ci[0]+.5*GPL4Ci[l]-.7071*GPL4Ci[2]);
L[l]=JointPosition[1];
â L[5]=JointPosition[2];
b = ââcos(L[5])*sin(L[1])-.25*sin(L[5])*cos(L[1]);
c = .96825*sin(L[5]);
g = .93541*sin(L[5])*cos(L[1])+.2338525*cos(L[5])*sin(L[1])+.3423247875*
sin(L[l]);
h = -.9354]*sin(L[5])*sin(L[l])+.2338525*cos(L[5])*cos(L[1])+.3423247875*
cos(L[1]);
i = -.9057107325*cos(L[5])+.O883875;
Calculate joint angle of frame 3
L[3]=-(1.57079+asin(~1â1.87080*h+.70710*i));
Calculate joint angle of frame 4
L[4]=2*atan(((.5)/(-32275e10*sin(L[3])+42695el0*bâl6137e10*c))*
(-45644610*cos(L[3])~45644el0+sqrt(2.08339e29*cos(L[3])*cos(L[3])+
4.l6678e29*cos(L[3])-E-2.08339e29+4.l6674e29*sin(L[3])*sin(L[3])-
7.29l66e29*b*b+5.51l95e29*b*c-l.04l65e29*c*c)));
Calculate joint angle of frame 2
L[2]=2*atan(((.5)/(7.0711e4*sin(L[3])+10.0000e4*g))*(7.0710e4*h+1.87082e5*
i+sqrt(50000e5*h*h+26457e6*h*.i+34999e6*i*i-2000e6*sin(L[3])*
sin(L[3]) +40000e6*g*g)));
Calculate the needle vector with respect to the ground coordinate system
GP{O]=.5590l99527*sin(L{5])*sin(L[4})â.197641504277085*cos(L[4])*cos(L[5])+
4050446442l4287*cos(L[4])â.5229l2853955lO7*cos(L[5])-
.l5309l7287l9985;
GP[1]=â.44721525505*sin(L[4])*cos(L[5])+.3354105574*sin(L[5])*sin(L[4])-
.1581 129534229275*sin(L[5])*cos(L[4])â.1l8584402568770*
cos(L[4])*cos(L[5])-.40504-4644214287*cos(L[4])-
.4l83296217263205* sin(L[5])-.313746389497534*cos(L[5])+
J53091728719985;
GP[2]=.5477274060*sin(L[4])*cos(L[5])+.2738637030*sin(L[5])*sin(L[4])+
.193649024391300*sin(L[5])*cos(L[4])â9.6824512195650e-
2*cos(L[4])*cos(L[5])-.33071888255*cos(L[4])+
.512349692846460*sin(L[5])-.256174846423230*cos(L[5])+
.l2499937025;
Calculate the needleâs orientation angles
ph_i=atan(GP[0]/GP[2]);
psi=atan(GP[1]/GP[2]);
In step 210, the computer calculates an amount of force (torque) that would compensate
for the inï¬uence of gravity on the user object (needle) and mechanical apparatus at the detected
position of the needle tip. The gravity compensation uses forces generated by actuators 86aâc to
support the weight of the actuators and the mechanism to allow the needle to be manipulated free
from this weight. For example, FIGURE 8a illustrates the needle 18, linear axis member 64, and
transducer 66c and the effect of gravity on the mechanism. Linear axis member 64 is coupled to
shaft 28 of needle 18. Transducer 66c is coupled to the linear axis member 64 and is one of the
heaviest components of the apparatus 25. Unlike transducers 66a and 66b, transducer 66c is not
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grounded and therefore the user can feel the weight of transducer 66c when manipulating needle
18. The mechanismâs center of gravity is shown by point 220, where gravity causes a downward
force on the mechanism. This weight causes a significant moment about the pivot point P, i.e.,
the needle 18 is caused to undesirably rotate about the pivot point P and, due to the ï¬exible nature
of the needle shaft 28, prevent the needle from being rotated about point P, axes A and B (as
shown in Figure 3). Thus, in step 210, the computer calculates a force 222 equal to the
gravitational force of the mass on mechanism and opposite in direction to compensate for the
weight of the actuator and mechanism, taking into account the current position of the needle about
the axes of the mechanism. This allows the user to freely rotate the needle about point P While
feeling a negligible amount of the weight of the mechanism and actuator. The compensating force
is calculated according to methods and equations well known to those skilled in the art. For
example, a partial differential can be calculated for the fourth link with respect to the first and ï¬fth
links, and, to remove singularities, a partial differential can be calculated for the second link with
respect to the first and fifth links and for the fourth link with respect to the first and fifth links.
Then, partial differentials can be determined of the center of gravity vectors of each link with
respect to the first and fifth links, and the gravity compensation torque output by each motor
determined therefrom.
In step 212, the process checks whether the needle is within the simulated tissue by
checking the position determined in step 208. If not, then the process returns to step 206 to
update the retrieved sensor data. If the needle is within the simulated tissue, then in step 213 the
force on the needle, as exerted by the simulated tissue, is calculated for use in subsequent steps.
In next step 214, the process checks if the needle has the desired angular position, where the
âdesiredâ position is one in which the advancing needle will contact the epidural space of the
patient and not bone or other obstructions in the simulated body. Preferably, a predetermined
angular range within the workspace of the needle is checked to determine if the needle is at the
desired position. If so, step 216 is performed, where the appropriate physical property profile for
the desired needle trajectory is selected from memory (such as RAM or ROM included in
computer 16). A âphysical property profileâ, as discussed herein, is a collection of stored
predetermined values that characterize or describe a physical structure or area at different
locations. For example, the different tissue layers beneath the skin may have different
The
physical property profile can include material stiffness values that indicate the stiffness of the
characteristics and thus will act differently on an advancing needle at different depths.
tissue at particular depths. A stiffness value from the profile is used by the process to eventually
determine forces on the needle interacting with the simulated tissue. Thus, the physical property
profile may include a sequence or table of values, each value used to determine stiffness of a
different depth. In other embodiments, other or additional physical property values can be
included in the profile. For example, density and texture values can be provided for different
depths of a patientâs tissue. In other embodiments, a physical property profile may describe
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physical properties of different layers of, for example, sediment which can be used to determine
forces on an instrument probing for oil.
Since, in the described embodiment, different physical property profiles are used for an
advancing needle and for a retracting needle, the process checks the current position and one or
more previous positions of the needle to determine the needleâs direction and then selects the
appropriate profile. This realistically simulates the different feel on a needle when advancing vs.
retracting the needle. The value in the profile that corresponds to the current position of the needle
is used in the calculation of force to be output, as described below. The physical property profiles
are advantageous in that they include a number of property values corresponding to different
depths. Thus, to provide for patient variation, the values can be easily changed to achieve a high
degree of customization to simulate different tissue resistances and different sizes/depths of
tissues in different patients.
FIGURE 8b is a graph 230 showing the force output on needle 18 using a physical
property profile with respect to needle insertion depth for a desired (successful) trajectory of the
needle in the simulated tissue of a patient. These forces result from a profile selected when the
needle is advancing into the simulated tissue. Between and insertion depth of O and 0.5 inches,
an initial force spike 232 is output in the direction resisting the advance of the needle, after which
the force drops sharply. Spike 232 is intended to simulate the puncturing of skin by the tip of the
needle shaft 28, and thus a high stiffness value (and/or other values) are stored in the profile for
this insertion depth. The force resisting the needle then increases steadily with insertion depth
between about 0.75 and 2.75 inches.
encountering the Ligamentum flavum directly before the epidural space, which can be a hard
The small spike 233 is meant to simulate the needle
substance that exerts a greater force on the needle, and thus corresponds to a higher stiffness in
the profile. The force then drops sharply before an insertion depth of about 2.75 to 3 inches, at
point 234. This drop in force simulates the needle entering the epidural space, which is the
desired space to inject the anesthetic. Once this space is reached, the simulation is complete. In
alternate embodiments, the other side of the epidural space can also be simulated. For example,
after about a distance of l/20th of an inch past point 234, a large force spike can be output based
on a high tension value in the physical property profile, which simulates bone on the other side of
the epidural space.
Referring back to Figure 8, the process continues after step 216 to step 220, detailed
below. If the needle does not have the desired or successful angular position in step 214, then
step 218 is performed, where the appropriate physical property profile is selected for the needle
encountering bone in the simulated body (or other obstacle), or a different âfailureâ profile is
selected if desired. Thus, if the user angles the needle incorrectly, the needle will miss the desired
epidural space and most likely will impact a bone structure. As in step 216, different profiles are
available for both directions of movement of the incorrectly-angled needle in the simulated tissue.
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FIGURE 8c is a graph 240 showing the force output on needle 18 from a physical
property profile with respect to needle insertion depth in the simulated tissue for a âvertebrae bone
This
Assuming that the
needle tip starts within the tissue, the force is fairly constant between 0 and about 1.25 inches to
simulate the resistance of tissue of average stiffness on the needle (alternately, if the needle tip
starts outside the tissue, an initial force spike similar to spile 232 can be provided to simulate
puncturing of the skin). At point 242 (about 1.25 inches in the present example), a very large
force spike (e.g., as large a force as can be generated) is output based onea very high (or infinite)
encounterâ, i.e., an unsuccessful needle trajectory in an epidural anesthesia procedure.
profile is used when the needle is advancing through the simulated tissue.
stiffness stored in the profile to create a âvirtual wall.â This simulates a hard structure, such as
bone, which the needle cannot advance through, and makes it apparent to the user that the needle
must be retracted. The mechanical apparatus 25â is wellâsuited to simulated this bone encounter,
since, to rapidly increase the output force without introducing vibrations or instabilities, several
requirements must be met. These requirements include a mechanical stiffness high enough so that
components do not deï¬ect under the input load; a transmission free of backlash and deflection
under the force load; and a position resolution high enough that the discrete changes in force
output do not cause vibrations in the linear axis. In. the preferred embodiment of apparatus 25â,
the apparatus 25â is able to simulate a bone tissue stiffness of approximately 20 lbs/in., which is
more than sufficient to simulate a bone encounter in the procedure.
Once a bone encounter is apparent, the user can retract the needle to just below the skin
surface, shift the angular position of the needle, and try advancing the needle again. If the user
believes that the needle almost missed the bone, then the needle can be retracted slightly and
continued to be advanced while exerting a sideward force on the needle to move it away from the
bone. Simulated tissue resistance and compliance can be important to realistically simulate these
multiple forces on the needle, as well as forces about axes A and B provided by actuators 86a and
86b.
Referring back to Figure 8, after step 218, the process continues to step 220. In step 220,
the process calculates the force to output to the actuators based on appropriate parameters, such as
the current position and/or previous position(s) of the needle in the simulated tissue and based on
a value in the selected physical property profile that corresponds to the current position of the tip
of the needle. The calculation of the force value is influenced by needle movement and parameters
such as compliance and resistance of the tissue (which can also be stored in the profiles). In
alternate embodiments, the calculated force value can be dependent on more complex factors. For
example, the stiffness of the tissue at the tip of the needle as well as the stiffness of tissue on the
sides of shaft 28 can be taken into account when calculating the force. In such an embodiment,
the physical properties at different depths can be retrieved from the profile for different portions of
the needle. In addition, the size (width/length) of needle 18 and the type of needle 18 (e. g.,
shape, material, etc.) can be used to influence the calculation of the force output on user object 44.
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The computer then outputs the calculated force value(s) to the actuator interface that
includes DAC 154 and power amplifier 156, and the appropriate forces are generated on needle 18
(or other object 44) by actuators 86a, 86b, and 86c. In addition, if the epidural space has been
reached by the needle 18 in a successful needle trajectory, then the valve 89 is preferably opened
so that the plunger 27 has no pressure exerted on it and can be moved by the user to simulate the
âloss of resistanceâ in an epidural procedure. The valve 89 is also opened if the needle is not
contacting any tissue (the valve 89 is closed at all other times to provide pressure on the plunger
27 while the needle is within other tissue). The process then returns to step 206 to retrieve
updated sensor data from the sensors, and the process continues as described above.
FIGURE 9 is a schematic diagram of an alternate embodiment 25â of mechanical
apparatus 25 for use with a spherical user object or joystick user object. Apparatus 25 includes a
gimbal mechanism 38 and a linear axis member 40 similar to the mechanisms 38 and 40 described
above with reference to Figure 2a. Linear axis member 40 is preferably a cylindrical or other
shaped shaft. In Figure 9, user manipulatable object 44 is a spherical ball 220 whose center X is
positioned at or close to remote pivot point P at the intersection of axes A, B, D, and E. A user
can grasp ball 220 and rotate the ball about pivot point P in two degrees of freedom about axes A
and B. In the preferred embodiment, ball 220 cannot be moved in a linear degree of freedom
since it is desired to keep ball 220 centered at point P. Alternatively, such a linear third degree of
freedom can be implemented as described in embodiments above.
Since the remote pivot point P is at the center of ball 220, the ball will seem to rotate in
place when it is moved in the provided degrees of freedom. This unique motion allows a user to
fully grasp the rotating object, such as ball 220, without having a large support structure
interfering with the userâs grasp.
Additionally, a third rotary degree of freedom can be added for ball 220 as rotation or
âspinâ about axis C extending through the pivot point P and aligned with linear axis member 40.
This third degree of freedom allows ball 220 to spin in place about its center.
As in the above embodiments, sensors and actuators can be included in apparatus 25â to
provide an interface with a computer system The sensors provide information about the position
of the object in one, two, and/or three degrees of freedom to the computer system, and the
actuators are controlled by the computer system to output forces in one or more degrees of
freedom. Some desired applications for apparatus 25â include a controller to manipulate the
movement of computer-displayed images for CAD systems, video games, animations, or
simulations and to provide forces to the user when the controlled images interact with other
images or when otherwise appropriate. For example, the ball 220 can be rotated in different
degrees of freedom to steer a vehicle through a computerâsimulated environment. Also, apparatus
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25â can be used to remotely control real objects (teleoperation), such as remotely steering a real
vehicle.
In alternate embodiments, ball 220 can include protrusions and/or indentations which
conform to a userâs hand and allow the user to grip the ball 220 more securely. Or, other-shaped
objects 44 can be provided, such as a cylinder, ellipsoid, grip, etc., centered at point P. In yet
other embodiments, linear axis member 40 can be extended so that pivot point P is positioned at a
point on the liear axis member. The ball 220 could then be moved in two rotary degrees of
freedom about pivot point P like a conventional joystick device.
FIGURE 9a is a perspective view of an alternate embodiment of the mechanical apparatus
and user object of Figure 9. In Figure 9a, user manipulatable object 44 is a handle grip 222,
where the the center X of the grip is approximately positioned at the remote pivot point P. A user
can grasp the grip 222 as shown. Preferably, three degrees of freedom about axes A, B, and C
are provided as described above. Grip 222 is suitable for embodiments implementing video
games or simulations.
One useful application for mechanical apparatus 25â with grip 222 is for controlling
computer-generated objects in a simulation (including video games) implemented by computer 16
and which can be displayed on computer screen 20 as graphical objects. In a âposition controlâ
paradigm between interface apparatus 25â and the computer-generated object(s), movements of
the grip 222 in provided degrees of freedom directly correspond to proportional movements of the
controlled computer object such that locations in the workspace of the user object correspond
directly to locations in the simulated space of the computer object. For example, moving grip 222
about axis C to a new position would move a displayed, controlled graphical cube about an
equivalent axis on the display or move a cursor across the screen to an equivalent position on the
display. In a ârate controlâ or âheading controlâ paradigm, movements of the grip 222 in
provided degrees of freedom correspond to movements of the computer object in correponding
directions or velocities to the grip movements. Rate control is often used to manipulate the
velocity of a simulated controlled object, while heading control is used to manipulate the
orientation of a displayed view/simulated entity, typically from a first person perspective. For
example, using heading control, moving grip 222 about axis C would correspondingly move the
view of a display screen and/or would move the cockpit of an aircraft in a simulated environment
as if the user were in the cockpit. In some heading control embodiments, the three degrees of
freedom can correspond to roll, pitch, and yaw controls mapped to the computer object in the
simulation, as shown in Figure 9a, where rotation about axes A and B is pitch and roll, and
rotaton about axis C is yaw. Thus, the roll, pitch, and yaw of a simulated object, such as a
vehicle (e.g., aircraft, spaceship, etc.), can be controlled using interface apparatus 25â.
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While this invention has been described in terms of several preferred embodiments, it is
contemplated that alterations, modifications and permutations thereof will become apparent to
those skilled in the art upon a reading of the specification and study of the drawings. For
example, the apparatus 25 can be used for a variety of applications besides medical simulation,
including vehicle simulation, video games, etc. Likewise, other types of gimbal mechanisms or
different mechanisms providing multiple degrees of freedom can be used with the capstan band
drive mechanisms disclosed herein to reduce inertia, friction, and backlash in a force feedback
system. A variety of devices can also be used to sense the position of an object in the provided
degrees of freedom and to drive the object along those degrees of freedom. Furthermore, certain
terminology has been used for the purposes of descriptive clarity, and not to limit the present
invention. It is therefore intended that the following appended claims include all such alterations,
modifications and permutations as fall within the true spirit and scope of the present invention.
33
Claims (66)
1. An interface mechanism providing motion in at least two degrees of freedom for a user and interfacing said motion with a computer, said interface mechanism comprising:
a gimbal mechanism including a plurality of members pivotably coupled to each other and providing two revolute degrees of freedom about a single pivot point located remotely from said plurality of members, said pivot point located at about an intersection of axes of rotation of said members; and a user manipulatable object coupled to at least one of said plurality of members, said user manipulatable object being rotatable in said two revolute degrees of freedom about said pivot point.
a gimbal mechanism including a plurality of members pivotably coupled to each other and providing two revolute degrees of freedom about a single pivot point located remotely from said plurality of members, said pivot point located at about an intersection of axes of rotation of said members; and a user manipulatable object coupled to at least one of said plurality of members, said user manipulatable object being rotatable in said two revolute degrees of freedom about said pivot point.
2. An interface mechanism as recited in claim 1 wherein said plurality of members includes five members, each of said five members pivotably coupled to at least one of said other five members.
3. An interface mechanism as recited in claim 1 wherein said plurality of members includes five members coupled in a closed loop such that each of said five members is pivotably coupled to two other members of said five members.
4. An interface mechanism as recited in claim 3 wherein said five members includes:
a ground member coupled to a ground surface;
first and second extension members, each extension member being coupled to said ground member;
first and second central members, said first central member having an end coupled to said first extension member and said second central member having an end coupled to said second extension member, wherein said central members are coupled to said linear axis member at ends not coupled to said extension members.
a ground member coupled to a ground surface;
first and second extension members, each extension member being coupled to said ground member;
first and second central members, said first central member having an end coupled to said first extension member and said second central member having an end coupled to said second extension member, wherein said central members are coupled to said linear axis member at ends not coupled to said extension members.
5. An interface mechanism as recited in claim 1 wherein said plurality of members are positioned exclusively on one side of said pivot point, wherein said members are provided within a hemisphere of a sphere defined such that said pivot point is at a center of said sphere and said user manipulatable object can be moved in a workspace that defines at least a portion of a surface of said sphere.
6 An interface mechanism as recited in claim 1 wherein at least a portion of said user manipulatable object extends through said pivot point.
7. An interface mechanism as recited in claim 6 wherein said user manipulatable object is independently translatable with respect to said gimbal mechanism along a linear third axis in a third degree of freedom through said pivot point.
8. An interface mechanism as recited in claim 3 further comprising a plurality of transducers, each of said transducers coupled between two of said members of said gimbal mechanism for an associated degree of freedom, said transducers being coupled to said computer.
9. An interface mechanism as recited in claim 8 wherein each of said transducersinclude a sensor for sensing the position of said user manipulatable object in said two degrees of freedom.
10. An interface mechanism as recited in claim 9 wherein each of said transducers includes an actuator for providing a force on said user manipulatable object in said two degrees of freedom.
11. An interface mechanism as recited in claim 10 wherein motion in said two degrees of freedom is input to a simulation implemented on said computer.
12. An interface mechanism as recited in claim 11 wherein said simulation is a video game.
13. An interface mechanism as recited in claim 3 wherein said user manipulatableobject includes at least a portion of a medical instrument.
14. An interface mechanism as recited in claim 13 wherein said user manipulatable object includes a needle having at least a portion of a shaft and a syringe.
15. An interface mechanism as recited in claim 14 further comprising a plunger actuator coupled to said needle for selectively providing a pressure to a plunger of said syringe.
16. An interface mechanism as recited in claim 1 wherein a graspable portion of said user manipulatable object is approximately centered at said remote pivot point.
17. An interface mechanism as recited in claim 10 further comprising a band drive mechanism coupled between one of said actuators and one of said members, said band drive mechanism transmitting said force generated by said actuator to said user manipulatable object and transmitting movement applied to said user manipulatable object by a user to said sensors.
18. An interface mechanism as recited in claim 17 wherein said band drive mechanism includes a rotating drum rotatably coupled to a first one of said members and rigidly coupled to a second one of said members, said drum being additionally coupled to a spindle by a flat band, wherein said transducer is operative to rotate said spindle and thereby rotate said drum and transmit force to said second one of said members with substantially no backlash.
19. An interface mechanism as recited in claim 18 further comprising a second band drive mechanism coupled between a second one of said actuators and said user manipulatable object, said second band drive mechanism transmitting a force generated by said second actuator to said user manipulatable object in a linear degree of freedom approximately through said pivot point.
20. An interface mechanism as recited in claim 10 wherein said actuators are grounded.
21. An interface mechanism for interfacing motion with a computer system, said interface mechanism comprising:
a plurality of members movable with respect to each other for providing at least one degree of freedom to a user manipulatable object;
an actuator for providing a force in one of said degrees of freedom of said user-manipulable object;
a sensor for sensing positions of said user-manipulatable object in said at least one degree of freedom; and a band drive mechanism, said band drive mechanism including a capstan and a flat band, said capstan coupled to a particular one of said members and to a rotating shaft of said actuator, wherein said capstan is coupled to said particular member by said flat band such that force is applied to said particular member in said at least one degree of freedom when said rotating shaft of said actuator is rotated, and wherein said flat band is spooled on said capstan when said rotating shaft is rotated, said flat band being wrapped at least once on itself when spooled on said capstan.
a plurality of members movable with respect to each other for providing at least one degree of freedom to a user manipulatable object;
an actuator for providing a force in one of said degrees of freedom of said user-manipulable object;
a sensor for sensing positions of said user-manipulatable object in said at least one degree of freedom; and a band drive mechanism, said band drive mechanism including a capstan and a flat band, said capstan coupled to a particular one of said members and to a rotating shaft of said actuator, wherein said capstan is coupled to said particular member by said flat band such that force is applied to said particular member in said at least one degree of freedom when said rotating shaft of said actuator is rotated, and wherein said flat band is spooled on said capstan when said rotating shaft is rotated, said flat band being wrapped at least once on itself when spooled on said capstan.
22. An interface mechanism as recited in claim 21 wherein said force is applied to said particular member in a linear degree of freedom.
23. An interface mechanism as recited in claim 21 wherein said force is applied to said particular member in a rotary degree of freedom.
24. An interface mechanism as recited in claim 21 wherein said flat band includes two separate bands, wherein each of said bands is coupled to said capstan at first ends and each of said bands is attached to said particular member at a second end, and wherein each of said bands wrapps at least once on itself when spooled on said capstan.
25. An interface mechanism as recited in claim 23 further comprising a drum rigidly coupled to said particular member and rotatably coupled to another one of said plurality of members, wherein said capstan is coupled to said drum by said flat band.
26. An interface mechanism as recited in claim 25 wherein said particular member is one of five rotatably coupled members provided in a closed loop chain such that each of said members is rotatably coupled to two others of said members.
27. An interface mechanism as recited in claim 26 wherein said actuator is grounded.
28. An interface mechanism as recited in claim 27 wherein said plurality of members provide two revolute degrees of freedom to said user manipulatable object about a pivot point located remotely from said plurality of members, said pivot point located at about an intersection of axes of rotation of said members.
29. An interface mechanism as recited in claim 28 wherein said user manipulatable object extends through said pivot point and is movable in said two degrees of freedom.
30. An interface mechanism as recited in claim 29 wherein said user manipulatable object is coupled to a linear axis member, wherein said user manipulatable object and said linear axis member are movable in a third linear degree of freedom.
31. An interface mechanism as recited in claim 30 further comprising a second band drive mechanism including a second capstan and a second flat band, said second capstan coupled to said linear axis member by a flat band and to a rotating shaft of said actuator, such that force is applied to said user manipulatable object in said third linear degree of freedom when said rotating shaft of said actuator is rotated.
32. An interface mechanism as recited in claim 30 wherein said linear axis member is a slide portion of a linear bearing.
33. An interface mechanism as recited in claim 21 wherein said computer system implements a medical simulation and wherein said user-manipulable object is a medical instrument.
34. An interface mechanism as recited in claim 33 wherein said user manipulatable object includes a needle and syringe, and wherein said medical simulation simulates an epidural anesthesia procedure of inserting said needle into tissue, where forces are provided on said needle to realistically simulate said insertion.
35. A method for providing a simulation using a computer system and an interfaceapparatus, the method comprising:
providing an interface apparatus coupled to a user manipulatable object, said interface apparatus including a gimbal mechanism that provides two rotary degrees of freedom in a spherical workplace to said user manipulatable object, wherein said user manipulatable object may be rotated about a pivot point remote from said gimbal mechanism and located at a center of a sphere defined by said spherical workplace, and wherein said interface apparatus also provides a third linear degree of freedom to said user manipulatable object through said remote pivot point;
detecting on a computer system the position of said user manipulatable object in said linear degree of freedom from a sensor included on said interface apparatus; and outputting a force on said user manipulatable object in said linear degree of freedom using an actuator coupled to said interface apparatus.
providing an interface apparatus coupled to a user manipulatable object, said interface apparatus including a gimbal mechanism that provides two rotary degrees of freedom in a spherical workplace to said user manipulatable object, wherein said user manipulatable object may be rotated about a pivot point remote from said gimbal mechanism and located at a center of a sphere defined by said spherical workplace, and wherein said interface apparatus also provides a third linear degree of freedom to said user manipulatable object through said remote pivot point;
detecting on a computer system the position of said user manipulatable object in said linear degree of freedom from a sensor included on said interface apparatus; and outputting a force on said user manipulatable object in said linear degree of freedom using an actuator coupled to said interface apparatus.
36. A method as recited in claim 35 wherein said interface apparatus is entirely on one side of a plane intersecting said pivot point such that said user manipulatable object is on the other side of said plane from said interface apparatus.
37. A method as recited in claim 36 wherein said interface apparatus includes a closed loop spherical mechanism for providing said two rotary degrees of freedom to said user manipulatable object about said remote point.
38. A method as recited in claim 37 further comprising transmitting said force from said actuator to said user manipulatable object using a band drive mechanism including a capstan coupled to said actuator and a flat band coupling said capstan to said mechanism.
39. A method as recited in claim 35 further comprising detecting on said computer system the position of said user manipulatable object in said two rotary degrees of freedom and outputting forces in said rotary degrees of freedom using second and third actuators, and outputting forces in said rotary degrees of freedom from said second and third actuators to compensate for the gravitational force resulting from the weight of at least one of said actuators and to allow said user manipulatable object to be manipulated free from said gravitational force.
40. A method as recited in claim 39 wherein said determining the position of said user manipulatable object includes determining whether said user manipulatable object is positioned within simulated tissue of a simulated patient.
41. A method as recited in claim 35 further comprising:
selecting a physical property profile used for determining forces on said user manipulatable object, wherein said physical property profile includes a plurality of predetermined physical property values, and wherein said selection of said physical property profile is based on a position of said user manipulatable object in at least said linear degree of freedom, wherein said force output on said user manipulatable object is determined, at least in part, from a physical property value of said selected physical property profile.
selecting a physical property profile used for determining forces on said user manipulatable object, wherein said physical property profile includes a plurality of predetermined physical property values, and wherein said selection of said physical property profile is based on a position of said user manipulatable object in at least said linear degree of freedom, wherein said force output on said user manipulatable object is determined, at least in part, from a physical property value of said selected physical property profile.
42. A method as recited in claim 41 wherein said selection of said physical property profile includes selecting from a plurality of available physical property profiles, and wherein said selection is also dependent on a direction of movement of said user manipulatable object in said linear degree of freedom.
43. A method as recited in claim 42 wherein said simulation is a epidural anesthesia simulation, wherein said user manipulatable object includes a needle having a syringe, and wherein different physical property profiles are selected based on whether said needle is advancing or retracting in simulated tissue of a simulated patient.
44. A method as recited in claim 43 wherein said physical property profile is selected additionally based on a trajectory of said needle within said tissue.
45. A method as recited in claim 44 wherein one of said selected physical property profiles is used to determine forces simulating said needle encountering a bone.
46. A mechanism for providing motion in at least two degrees of freedom, said mechanism comprising:
a linear axis member able to move in two revolute degrees of freedom in a spherical workspace; and a gimbal mechanism coupled to said linear axis member, said gimbal mechanism including a plurality of members pivotably coupled to each other and providing said two revolute degrees of freedom for said linear axis member about a pivot point located remotely from said plurality of members, said pivot point located at about an intersection of axes of rotation of said members at a center of a sphere defined by said spherical workspace.
a linear axis member able to move in two revolute degrees of freedom in a spherical workspace; and a gimbal mechanism coupled to said linear axis member, said gimbal mechanism including a plurality of members pivotably coupled to each other and providing said two revolute degrees of freedom for said linear axis member about a pivot point located remotely from said plurality of members, said pivot point located at about an intersection of axes of rotation of said members at a center of a sphere defined by said spherical workspace.
47. A mechanism as recited in claim 46 wherein said linear axis member extends through said remote pivot point.
48. A mechanism as recited in claim 47 wherein said gimbal mechanism is entirely on one side of a plane intersecting said remote pivot point such that at least a portion of said linear axis member is on the other side of said plane from said gimbal mechanism.
49. A mechanism as recited in claim 48 wherein said plurality of members includes five members coupled in a closed loop such that each of said five members is pivotably coupled to two other members of said five members.
50. A mechanism as recited in claim 49 wherein said linear axis member includes a user manipulatable object such that a portion of said user manipulatable object that is graspable by said user is located on said other side of said plane from said gimbal mechanism.
51. A mechanism as recited in claim 50 wherein a grippable portion of said user manipulatable object is centered at said pivot point.
52. A mechanism as recited in claim 50 wherein said user manipulatable object isindependently translatable with respect to said gimbal mechanism along a linear third axis in a third degree of freedom approximately through said remote pivot point.
53. A mechanism as recited in claim 50 further comprising a plurality of transducers, each of said transducers being coupled between two of said members of said gimbal mechanism for an associated degree of freedom, said transducers being coupled to a computer system, wherein each of said transducers includes a sensor for sensing the position of said user manipulatable object in said associated degree of freedom and an actuator for providing a force on said user manipulatable object in said associated degree of freedom.
54 A mechanism as recited in claim 50 wherein said user manipulatable object is provided with an additional rotary degree of freedom about a linear third axis parallel to said linear axis member such that said user manipulatable object has three rotary degees of freedom approximately about said pivot point.
55. A mechanism as recited in claim 54 wherein said mechanism is coupled to a computer system to interface motion of said user manipulatable object to said computer system, wherein said three rotary degrees of freedom correspond to roll, pitch, and yaw degrees of freedom, and wherein said roll, pitch, and yaw are mapped to a simulation implemented by said computer system where movement in said roll, pitch, and yaw degrees of freedom control roll, pitch, and yaw, respectively, of a computer object in said simulation.
56. An interface mechanism for interfacing motion with a computer system, said interface mechanism comprising:
a plurality of members, each of said members being coupled to at least one other of said members and movable with respect to said other members, said plurality of members providing two revolute degrees of freedom to a user manipulatable object about a pivot point located remotely from said plurality of members, said pivot point located at about an intersection of axes of rotation of said members;
an actuator for providing a force in said degree of freedom of said user manipulable object;
a sensor for sensing positions of said user manipulatable object in said at least one degree of freedom; and a band drive mechanism, said band drive mechanism including a capstan and a flat band, said capstan coupled to a particular one of said members and to a rotating shaft of said actuator, wherein said capstan is coupled to said particular member by said flat band such that force is applied to said particular member in said at least one degree of freedom when said rotating shaft of said actuator is rotated.
a plurality of members, each of said members being coupled to at least one other of said members and movable with respect to said other members, said plurality of members providing two revolute degrees of freedom to a user manipulatable object about a pivot point located remotely from said plurality of members, said pivot point located at about an intersection of axes of rotation of said members;
an actuator for providing a force in said degree of freedom of said user manipulable object;
a sensor for sensing positions of said user manipulatable object in said at least one degree of freedom; and a band drive mechanism, said band drive mechanism including a capstan and a flat band, said capstan coupled to a particular one of said members and to a rotating shaft of said actuator, wherein said capstan is coupled to said particular member by said flat band such that force is applied to said particular member in said at least one degree of freedom when said rotating shaft of said actuator is rotated.
57. An interface mechanism as recited in claim 56 wherein said force is applied to said particular member in a linear degree of freedom.
58. An interface mechanism as recited in claim 56 wherein said force is applied to said particular member in a rotary degree of freedom.
59. An interface mechanism as recited in claim 56 wherein said flat band includes two separate bands, wherein each of said bands is coupled to said capstan at first ends and each of said bands is attached to said particular member at a second end.
60. An interface mechanism as recited in claim 58 further comprising a drum rigidly coupled to said particular member and rotatably coupled to another one of said plurality of members, wherein said capstan is coupled to said drum by said flat band.
61. An interface mechanism as recited in claim 60 wherein said particular member is one of five rotatably coupled members provided in a closed loop chain such that each of said members is rotatably coupled to two others of said members.
62. An interface mechanism as recited in claim 56 wherein said actuator is grounded.
63. An interface mechanism as recited in claim 56 wherein said user manipulatable object extends through said pivot point and is movable in said two degrees of freedom.
64. An interface mechanism as recited in claim 56 wherein said user manipulatable object is coupled to a linear axis member, wherein said user manipulatable object and said linear axis member are movable in a third linear degree of freedom.
65. An interface mechanism as recited in claim 64 further comprising-a second band drive mechanism including a second capstan and a second flat band, said second capstan coupled to said linear axis member by a flat band and to a rotating shaft of said actuator, such that force is applied to said user manipulatable object in said third linear degree of freedom when said rotating shaft of said actuator is rotated.
66. An interface mechanism as recited in claim 64 wherein said linear axis member is a slide portion of a linear bearing.
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US08/709,012 US6024576A (en) | 1996-09-06 | 1996-09-06 | Hemispherical, high bandwidth mechanical interface for computer systems |
US08/709,012 | 1996-09-06 | ||
PCT/US1997/015656 WO1998009580A1 (en) | 1996-09-06 | 1997-09-04 | Hemispherical, high bandwidth mechanical interface for computer systems |
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CA2265590A1 true CA2265590A1 (en) | 1998-03-12 |
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WO2006066401A1 (en) * | 2004-12-20 | 2006-06-29 | Simon Fraser University | Spherical linkage and force feedback controls |
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US5623582A (en) | 1994-07-14 | 1997-04-22 | Immersion Human Interface Corporation | Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects |
US5642469A (en) | 1994-11-03 | 1997-06-24 | University Of Washington | Direct-drive manipulator for pen-based force display |
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US6147674A (en) | 1995-12-01 | 2000-11-14 | Immersion Corporation | Method and apparatus for designing force sensations in force feedback computer applications |
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US7976312B2 (en) * | 1996-05-08 | 2011-07-12 | Gaumard Scientific Company, Inc. | Interactive education system for teaching patient care |
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2004
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Publication number | Priority date | Publication date | Assignee | Title |
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WO2006066401A1 (en) * | 2004-12-20 | 2006-06-29 | Simon Fraser University | Spherical linkage and force feedback controls |
Also Published As
Publication number | Publication date |
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US7500853B2 (en) | 2009-03-10 |
US6705871B1 (en) | 2004-03-16 |
US20060194180A1 (en) | 2006-08-31 |
US20040183777A1 (en) | 2004-09-23 |
US7249951B2 (en) | 2007-07-31 |
US6024576A (en) | 2000-02-15 |
WO1998009580A1 (en) | 1998-03-12 |
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