CN1531670A - 具有缆绳驱动的力反馈和四个接地致动器的接口装置 - Google Patents

具有缆绳驱动的力反馈和四个接地致动器的接口装置 Download PDF

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CN1531670A
CN1531670A CNA028143515A CN02814351A CN1531670A CN 1531670 A CN1531670 A CN 1531670A CN A028143515 A CNA028143515 A CN A028143515A CN 02814351 A CN02814351 A CN 02814351A CN 1531670 A CN1531670 A CN 1531670A
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佩德罗·格雷戈里奥
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尼尔·T·奥列恩
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戴维·W·贝雷
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史蒂文·P·瓦萨洛
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Immersion Corp
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    • A61B34/70—Manipulators specially adapted for use in surgery
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    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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    • 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
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    • G05B2219/45118—Endoscopic, laparoscopic manipulator

Abstract

一种在一个模拟系统中通过给用户提供感触的(触觉的)反馈来提供真实感觉的系统。该系统包括一个由用户接合的可接合的练习工具和一个连接着练习工具的机械模拟装置。机械模拟装置包括一个接地部件(46)、一个转动地连接在接地部件(47)上的机械连杆(38)、一个连接着练习工具和机械连杆(38)的直线轴部件、至少四个连接着接地部件的致动器(62、64、66、70)、用来感知致动器的移动的传感器(65、67、69)、和至少三条与该至少四个致动器(65、64、66、70)接触并且连接着机械连杆(38)的缆绳。接口装置连接着模拟装置，主机电脑(20)连接着接口装置(14)用来执行应用程序。应用程序为致动器(62、64、66、70)提供信号来移动缆绳(130)，从而移动机械连杆(38)。

Description

具有缆绳驱动的力反馈和四个接地致动器的接口装置
相关申请的交叉引用
本申请主张2001年7月16日提交的题目为“具有缆绳驱动的力反馈和四个接地致动器的接口装置”序号为No.60/305,957的美国临时专利申请的权益，该临时专利申请的内容为了各种目的作为整体在此引用。
关于在联邦赞助的研究或开发下所做的发明的权利的申明
没有。
有关在光盘附录中提交的“序列表”、表格或计算机程序的引用
没有。
技术领域
本发明通常涉及到人和计算机之间的接口装置，特别是给用户提供力反馈的计算机接口装置。
背景技术
虚拟现实计算机系统给用户提供他们成为“虚拟”环境中的一部分的幻觉。一个虚拟现实系统典型地包括一个计算机处理器、虚拟现实软件和虚拟现实输入输出设备，例如头戴式显示器，传感手套，三维(“3D”)鼠标等。
虚拟现实计算机系统可以用来进行训练。在许多领域，例如航空、交通和系统操作，虚拟现实系统已经成功地应用使得用户从中学习和经历一个现实的“虚拟”环境。使用虚拟现实计算机系统进行训练的吸引力部分地在于这样的系统具有允许训练者在高度真实的环境中放心地操作以享受乐趣而犯错误也不会带来“真实世界”的后果的能力。例如，虚拟现实计算机系统允许实习医生或其他人体操作者或用户在一个计算机模拟的“人体”中操纵解剖刀或探测器，从而为一个虚拟的病人进行医疗操作。在这个实例中，通常使用诸如3D鼠标、触笔等的输入输出设备代表手术器械如解剖刀或探测器。当“解剖刀”或“探测器”在所提供的空间或结构中移动时，这些移动的结果在计算机系统屏幕中显示的人体图像中被更新并显示，这样操作者获得了操作的经验，而这种操作不需要在真实的人体或尸体上实施。在其他的应用中，虚拟现实计算机系统允许用户操作和操纵或控制复杂的和昂贵的交通工具和机器达到训练和/或娱乐的目的。
因为虚拟现实系统为用户提供了一个现实的(所以是有效的)经历，所以感觉反馈和人工交互应该尽可能的自然。除了感知和跟踪用户的手动行为并把这些信息反馈给计算机系统以给用户提供一个三维的可视化表现外，人体接口装置还应该给用户提供力或感触的(“触觉的”)反馈。用户得到真实的触觉信息的这种需求在多种模拟和其他的应用中是广泛的。例如，在医疗/外科模拟中，当探测器在模拟的体内移动时，探测器或手术刀模拟器的“感觉”非常重要。对于实习医生来说，没有必要知道仪器在体内如何移动、进行操作时需要多大的力、在体内有多少空间可用于操作仪器等等。一种“高带宽”的接口系统在这些和其他应用中都是大家想要的，它是一个能够精确的反映快速变化的和较宽范围频率的信号并且把这些信号精确的提供给控制系统的接口。
几种现有的装置为仪器或可操作的物体提供有多个移动自由度并且包含有触觉反馈。然而，许多这样的装置都局限于为力提供了几个自由度的范畴，并且在特定的应用中比所想的要更不精确和不现实。具有更高真实性和合理价格的装置对于医疗和其他虚拟仿真应用来说都是需要的。
发明内容
本发明提供了一种系统，通过提供抵抗力为用户提供一种真实的感觉。本系统包括一个用户接合的可接合的练习工具。一个机械模拟装置连接在这个练习工具上，接口装置连接在模拟装置上。应用程序为机械模拟装置提供信号，在所感知的练习工具位置的基础上为练习工具提供抵抗力。
根据本发明的一个方面，练习工具被设定为一个练习医疗工具。
根据本发明的另一个方面，接口装置包括在主机电脑中。
根据本发明的另一个方面，接口装置与主机电脑是分离的。
根据本发明的另一个方面，接口装置包含一个位于机械模拟装置中的微处理器。
根据本发明的另一个方面，系统进一步包括一个位于机械模拟装置和用户之间的挡板。
根据本发明的另一个方面，练习工具被设定为一个腹腔镜工具并且包括一根套针。
根据本发明的另一个方面，练习工具被设定为一种导尿管、皮下注射用的针、金属丝、光纤束、触笔、游戏杆、螺丝刀、击球杆和手柄。
根据本发明的另一个方面，系统包括多个练习工具。
根据本发明的另一个方面，机械模拟装置包括一个接地部件、一个连接在接地部件上的机械连杆、一个连接着练习工具和机械连杆的直线轴部件、至少一个连接在接地部件上的致动器、和一个与至少一个致动器接合并与机械连杆连接的缆绳。
根据本发明的另一个方面，系统包括至少四个致动器。
根据本发明的另一个方面，致动器含有直流电动机。
根据本发明的另一个方面，系统包括至少三个缆绳与至少四个致动器以各种形式接合。
根据本发明的另一个方面，至少提供了一个传感器以感知致动器和/或机械连杆的运动。
本发明也提供了一种方法，通过提供抵抗力为用户提供真实的感觉。该方法包括提供一个连接在含有机械连杆的机械模拟装置上的可接合的练习工具、至少一个致动器、至少一个与该至少一个致动器接合并与机械连杆连接的缆绳、和一个传感器。该方法进一步包括由用户接合工具和由用户向练习工具施加力。工具的位置利用传感器感知。感知的位置提供给包括有应用程序的主机电脑，信号从主机电脑中提供给至少一个致动器来移动至少一条缆绳，从而移动机械连杆。信号是基于感知的位置和应用程序的。
本发明的其他特征和优点通过阅读和理解下文的优选的和可仿效的实施例的描述以及参考附图将得以理解，其中图中相同的标号代表相同的部件。
附图说明
图1是本发明的一个示意图，用于医疗模拟的目的；
图2A和2B是根据本发明的医疗模拟装置的透视图；
图2C和2D是底座结构和机械模拟装置的连杆机构部分的正视图；
图2E是根据本发明的机械模拟装置的后视图；
图2F是根据本发明的机械模拟装置的顶视图；
图2G是根据本发明的机械模拟装置的关闭顶部表面的视图；
图3A是根据本发明的机械模拟装置的机械连杆的透视图；
图3B是机械连杆的顶视图；
图3C是机械连杆的侧视图；
图3D是机械连杆的前视图；
图3E是机械连杆的底视图；
图4A和4B是机械连杆的透视图；
图5A-5D是机械连杆的侧视截面图；
图6A和6B分别是机械连杆的底视图和透视底视图；
图7A-7C是机械连杆的另外的截面透视图；
图8A和8B分别是机械连杆的截面透视图和前视图。
具体实施方式
图1示例了本发明用于医疗模拟目的的一个例子。一个虚拟现实系统10用来模拟医疗过程，它包括人机接口装置12、一个电子接口14、和一个主机电脑16。示例的虚拟现实系统10指的是腹腔的手术过程的虚拟现实模拟。
与本发明结合使用的腹腔检查工具18的把手26由操作者操作，虚拟现实图像根据这些操作显示在数字处理系统的显示装置20中。例如，当工具18被用户移动时，工具或部分工具的图形化表示可以在装置20中显示的图形化的环境中作相应的移动。显示装置20可以是标准的显示屏幕或CRT显示器、3D眼镜、或任何其他可视化的接口。数字处理系统通常是主机电脑16。主机电脑可以是个人电脑或工作站或其他电脑装置或处理器，例如通常连接在电视机上的家庭视频游戏系统，如任天堂、世嘉或索尼的系统；一个“机顶盒”，它可以用来给用户提供交互的电视功能；店铺游戏机；手持式计算工具等等。作为下面描述的优选实施例，也可以提供多个工具18，每个都可以由用户操作。
主机电脑16执行主机应用程序，通过它用户可以与外设和接口装置14交互。例如，主机应用程序可以是视频游戏、医疗模拟、科学分析程序、或甚至一个操作系统或其他用来力反馈的应用程序。典型地，主机应用程序为显示输出装置提供显示的图像和/或其他反馈，如听觉信号，如下文所述。图1的医疗模拟实例包括一个主机医疗模拟应用程序。适合于这些应用的软件可以从加利福尼亚的ImmersionCorporation of San Jose得到。另外，显示屏幕20可以显示游戏应用程序或其他程序的图像。
这里示例的人/接口装置12的例子用来模拟腹腔医疗过程。除了标准腹腔检查工具18的把手外，人/接口装置12可以包括一个挡板22和一个标准的腹腔检查套针24(或套针的仿制品)。挡板22被用来代表病人身体上覆盖的皮肤。套针24被插入到虚拟病人的体内为腹腔检查工具18提供出入病人体内的通道并且允许操纵腹腔检查工具。挡板22和套针24可以根据需要在其他实施例的装置12中省略。优选地，腹腔检查工具18被修改；在一个实施例中，轴被一个直线轴部件代替，如下所述。在另一个实施例中，工具(如任何的切割边缘)的轴末端可以被除去。腹腔检查工具18的远端对虚拟现实模拟而言可以不需要。
腹腔检查工具18包括一个把手或“夹持”部分26和一个轴部分28。轴部分是一个加长的机械物，下面有更详细的描述。在一个实施例中，本发明致力于在三维空间中跟踪轴部分28的运动，举例来说就是四个自由度。轴28沿着它的长度在一些点被约束，这样它可以在模拟的病人体内按四个自由度运动。
一个用来与机械的输入输出接口连接的机械装置25用虚线显示在病人的“体内”。当在计算机上模拟交互作用时，计算机将把反馈信号发送到工具18和机械装置25，其中该装置具有致动器用来根据虚拟的腹腔检查工具相对于表面或显示在计算机显示装置中的特征产生力。机械装置25将在下文中详细描述。信号可以通过接口30发送到或从装置25中接收，与下文中描述的接口72相似。
虽然本发明的一个实施例将参考腹腔检查工具18进行讨论，但是可以意识到许多其他类型的物体也可以用在本发明的方法和装置中。事实上，本发明可以使用任何的机械物，只要它可以提供具有1-6个自由度的人机接口。这样的物体可以包括内窥镜或其他相似的用于医疗过程的外科工具、导尿管、皮下注射用的针、金属丝、光纤束、触笔、游戏杆、螺丝刀、击球杆、手柄等等。
电子接口14是人机接口装置12的一个组件，可以把装置12连接到主机电脑16上。电子接口14可以包含在机械装置25的壳中、主机电脑16中、或被提供成独立的单元。特别是，在优选实施例中使用的接口14用来把装置25的各种致动器和传感器(下面详细描述)连接到电脑16上。在一些实施例中，接口可以包括一个位于装置25中的微处理器来操作传感器数据和致动器的控制。合适的电子配置例如描述在美国专利No.5,623,582；5,821,920；5,731,804；5,734,373；5,828,197；和6,024,576中，所有的这些专利在此引作参考。
信号可以通过标准的接口32(RS-232，USB，火线、串口、并口等)或无线传输和接受器发送到接口14和计算机16或从中接收。在本发明的各个实施例中，接口14可以作为唯一的计算机16的输入装置、唯一的计算机16的输出装置、或计算机16的输入输出装置。接口14也可以从其他的与装置12连接的输入装置或控制器中接收输入并且可以把这些输入传递给计算机16。例如，用户发出命令通过激活装置12上的一个按钮传递给计算机16来执行命令或使计算机16输出一个命令给装置12。
在图2A和2B中，显示了一幅根据本发明的提供有机械的输入和输出的机械装置25的透视图。装置25可以包括两个或多个工具18(图中仅显示了一个)以允许用户真实地模拟一个实际的使用腹腔检查仪器的手术过程。用户可以独立地操作各个工具18，在本发明中各个工具是独立感知和独立传动的。
各个工具18都连接在一个直线的轴部件40上，其中部件40又连接在一个机械连杆38上，连杆38将在下文中详述。用户物体44，例如一个把手，优选地连接在一个直线的轴部件40上。机械连杆通过底座结构46接地。致动器，例如直流电动机40，它可以在各个直线的轴部件40和工具18上输出外力，在所述的实施例中位于底座结构46中，因此是完全接地的。这个配置允许装置25产生高保真的和有效的触觉反馈。致动器也可以包括传感器用来感知致动器的转动，从而探测工具在四个自由度上的运动。在其他实施例中，传感器可以连接在连杆38部分以更直接地感知工具的运动。
在所述的实施例中，每个直线的轴部件40/工具18可以在四个自由度上移动，分别为插入的自由度50、扭曲的自由度52、第一个转动自由度(侧转)64、第二个转动自由度(前后)56。其他的实施例可以把自由度限制为更少的数量或提供额外的自由度。
图2C和2D进一步示例了底座结构46和连杆机构38转动地连接在底座结构上的部分。
图2E示例了装置25的后视图，显示了所述实施例的一些致动器和传感器。转动致动器62，例如一个直流电动机，驱动插入的自由度50，转动致动器64驱动侧转自由度54，在图2E中位于致动器64后面的转动致动器66驱动扭曲自由度52。致动器和传感器成对70驱动前后转动自由度56。
图2F示例了装置25的顶视图，图2G示例了装置关闭顶部表面的视图。滑轮72连接着致动器62并且缆绳160缠绕在其上。滑轮74与致动器64连接并且缆绳106缠绕在其上。滑轮76连接着致动器66并且缆绳130缠绕在其上。这些缆绳将在下文详述。这些缆绳都通过底座结构侧面的缝77到达机械连杆38；在所述的实施例中，缆绳在到达它们各自的滑轮72、74、76之前可以分别缠绕在自身的中心轴上。在所述的实施例中，传感器65感知致动器64的轴的运动，传感器67感知连接着致动器62的轴的心轴78的运动，传感器69感知致动器66的轴的运动。这些传感器是光学编码器，具有发射器和探测器，其中探测器可以感知连接在滑轮或心轴的编码器滚轮上的标记，如图所示。在所述的实施例中，感知前后转动的自由度56的传感器提供在致动器/传感器70的壳上以直接测量致动器轴的转动。
基本上是作为系统的转换装置的其他类型的致动器和传感器可以在其他实施例中使用，例如模拟电位计、Polhemus(磁性)传感器、侧向作用的光电二极管等等。另外，传感器可以定位在相对运动或机械装置25接头的其他位置。应该注意，本发明既可以使用绝对传感器又可以使用相对传感器。致动器可以也可以是各种类型，例如主动的致动器和/或被动的致动器。主动的致动器可以包括直流电控制电动机、步进电动机机组、气压/液压传动的致动器、步进电动机、不带电刷的直流电动机、气压/液压致动器、扭矩装置(电动机具有有限的转角范围)、音圈、和其他类型的可以传递力来移动物体的致动器。也可以使用被动的致动器。磁性粒子制动器、摩擦制动器、或气压/液压的被动致动器也可以额外使用或代替电动机来产生运动的阻尼抵抗力或摩擦力。另外，在一些实施例中，被动的(或“粘滞的”)阻尼器部件可以提供在装置25的轴承处以便从系统中吸收能量并且可以有意的增加机械系统的动态稳定性。在其他实施例中，这种被动的阻尼可以利用致动器的反向电动势(EMF)来产生以吸收系统的能量。另外，在音圈的实施例中，可以使用多重线圈，这些线圈可以用来提供反向电动势和阻尼力。
致动器和传感器被分离意味着这些变换器被直接连接到了与地面47相接的接地部件46上了，也就是，地面而不是用户接合的工具18承载了变换器的重量。因此，变换器的重量和惯性基本上在用户操作和移动工具是可以被忽略。这为虚拟现实系统提供了更加真实的接口，因为计算机可以控制变换器在这些运动的自由度上为用户提供各种力。相对而言，在在先技术的典型的多自由度接口的配置中，一个致动器“骑”在另一个致动器上，形成一条串连的链子。这种低带宽的配置使得用户在操作物体时感觉到了连接在一起的致动器的惯性。
可选地，额外的变换器可以增加到装置25中为工具18提供额外的自由度。例如，可以给腹腔检查工具18的把手增加一个变换器来感知和/或输出传递到用户相对移动工具18的两部分这个自由度的力，来模拟例如工具切割刀刃的展开。
图3A(透视图)、3B(顶视图)、3C(侧视图)、3D(前视图)和3E(底视图)示例了装置25的机械连杆38。连杆38可转动的连接在底座结构46上以允许第二个转动56，缆绳从连杆38的各个移动部件延伸到底座结构的致动器上，下文将详述。直线的轴部件40可以相对于连杆38移动以提供两个自由度50和52，并且随着连杆的两个部分移动来提供另外两个自由度54和56。
图4A和4B显示了机械连杆38的透视图。第二个转动(前后)56通过一个位于连杆38和底座结构46之间的机械轴承来提供。为了从接地的致动器70给第二个转动56提供力，绞盘驱动器80可以作为一个机械的传输部件把力从致动器传递到连杆38。绞盘轮82可以刚性地连接在致动器70的转动轴71上，绞盘轮的转动轴与连杆38的转动轴A平行具有自由度56，同时绞盘轮的位置临近于刚性地连接在连杆38上的鼓84，如图所示。缆绳86连接在鼓84的一端，沿着鼓84的边缘在鼓84上缠绕一圈或多圈沿着鼓剩下的边缘到达它的另一边。缆绳可以利用张拉螺母88张拉。在其他的实施例中可以使用其他类型的传输装置，如齿轮、摩擦轮、皮带驱动器等等。
连杆38的第一个转动(侧向)通过不同的缆绳驱动器100来提供。缆绳驱动器100包括一个刚性地连接在连杆部件110上的鼓102，它可以相对于连杆部件112绕着轴B在自由度54上转动。两个惰轮104a和104b转动地连接在连杆部件112上并且绕着平行于轴B的轴转动。图中用虚线表示的缆绳106从鼓102的一端绕过惰轮104a穿过连杆部件38向外到达底座结构并驱动致动器64的滑轮74，在该处缆绳绕了多次。然后，缆绳绕回，穿过连杆38绕着惰轮104b沿着鼓102的边缘到达张力器114。这种配置允许致动器通过缆绳106推动所需的鼓102的一侧来转动连杆部件110。
图5A、5B、5C、5D是连杆38的其他侧视截面图，所示的例子为连杆部件110相对于连杆部件112转动到了尽头的样子。该运动可以通过在鼓102的运动路径上提供一个制动器来限制。例如，如图5A所示，可以在鼓102上放置一个开口118。一个制动部件120，例如一个圆柱体，可以连接在连杆部件112上并且位于开口118内，这样，制动部件120将与开口118的末端接合以提供对鼓的运动的限制。
图6A和6B分别是连杆机构38的底视图和底视透视图。为了使力能被输出到扭转自由度52，缆绳130的第一端(用虚线表示)缠绕在底座结构46中的致动器66的被直接驱动的滑轮76上并且穿过连杆机构38。缆绳130绕在一个惰轮132上，绕着另一个惰轮134和136。然后，缆绳130逆时针地(如图6a所示)绕在一个可转动的鼓138上并在一个点140(在其他实施例中，点140可以位于别处)处与鼓相连。缆绳130的第二端也在点140处与鼓138相连，它也可以被逆时针地(如图6a所示)绕着鼓138剩下的边缘到达滑轮142。缆绳130从第二端缠绕着惰轮142接着是惰轮144，其中惰轮144和惰轮134相互邻接并且具有相同的转动轴。缆绳130然后绕着惰轮146，它与惰轮132邻接并具有相同的转动轴。然后，缆绳130穿过连杆部件38，两端都用线130代表，到达底座结构的致动器66，在该处缆绳绕着被致动器66直接驱动的滑轮76多次。
在运行中，致动器66可以沿两个方向转动鼓138，借此转动直线轴部件40和工具18。当致动器的轴沿一个方向转动时，缠绕着滑轮136的缆绳130的第一端被拖动，使得鼓绕着中心点170在相应的方向上转动。当致动器的轴沿相反的方向转动时，缠绕着滑轮142的缆绳130的第二端被拖动，使得鼓绕着中心点170在另一个方向上转动。
为了使力输出到线性插入的自由度50上，缆绳160的第一端(在图6a中用点划线表示)从底座结构46中的致动器62的直接驱动的滑轮72穿过连杆机构38。缆绳160缠绕着惰轮162，接下来是惰轮164和惰轮166。然后，缆绳160的第一端161绕着惰轮169(如图7a所示)并与直线轴部件40相连。缆绳160的第二端162在中心点170的另一边与直线轴部件40相连。缆绳160从第二端绕着滑轮168、绕着与滑轮164相邻并沿相同的轴转动的滑轮172、绕着与滑轮162相邻并沿相同的轴转动的滑轮174。然后，缆绳穿过连杆机构38到达由致动器62驱动的滑轮72，在此处缆绳缠绕多次。
在运行中，致动器62可以沿两个方向转动它的驱动轮并相应地拖动缆绳160的第一端或第二端。如果第一端被拖动，在直线轴部件40(如图3所示的方向)上输出向下的力，而如果第二端被拖动，在直线轴部件上输出向上的力。
图7A-7C是上文描述的连杆机构38、缆绳和滑轮额外的截面透视图，示例了机构的插入自由度50。
图8A和8B是连杆机构38的截面透视图和前视图，显示了上述特征。
因此，本发明的机构优选地提供了四个接地的致动器为工具18在四个自由度上提供力。为了使致动器接地，可以利用缆绳把力输出到远程的机械运动上，也就是，转动的鼓或移动的直线轴部件远离驱动滑轮，不像标准的绞盘驱动那样。穿过机械连杆内部向外到达底座结构的三条缆绳(六个端点)被弯曲成各种路径绕着惰轮和它们的纵轴；然而，这不会使缆绳产生显著的伸长。缆绳的六端安排的紧靠在一起并临近前后转动的轴A，以使缆绳的弯曲最小。例如，六条缆绳的长度可以被设置为这样，即它们的横截面大致形成绕着转动轴A的一个圈。
虽然结合几个优选实施例描述本发明，但是可以预想，对于本领域技术人员以及阅读和研究了本发明的说明书和附图的人来说，对它进行改变、修改和变更是显而易见的。例如，装置25的连杆部件可以采取多个实际的物理尺寸和形状而仍然保持所揭露的连杆结构。相似地，也可以使用其他类型的万向机构或不同的提供多个自由度的机构，再结合所揭示的驱动机构来减小系统的惯性、摩擦和反冲。很多装置也可以用来感知物体在所提供的自由度上的位置和沿着这些自由度驱动物体。另外，用在具有想要功能的变换器系统中的传感器和致动器可以采取各种形式。相似地，也可以使用其他类型的连接在物体和致动器之间提供想要的功能。此外，所用的特定术语仅仅是为了描述清晰的目的，并不限制本发明。

Claims (27)

1.一种通过提供抵抗力为用户提供真实感觉的系统，该系统包括：
一个用户接合的可接合的练习工具；
含有连接着练习工具的机械连杆的机械模拟装置；
一个连接着模拟装置的接口装置；
一个连接着接口装置的主机电脑，用来执行应用程序，应用程序为致动器提供移动机械连杆的信号。
2.根据权利要求1的系统，其特征在于，练习工具设定成一个练习医疗的工具。
3.根据权利要求1的系统，其特征在于，接口装置包括在主机电脑和机械模拟装置之一中。
4.根据权利要求1的系统，其特征在于，接口装置独立于主机电脑和机械模拟装置。
5.根据权利要求1的系统，其特征在于，接口装置包含一个位于机械模拟装置之中的微处理器。
6.根据权利要求1的系统，其特征在于，系统进一步包含一个位于机械模拟装置和用户之间的挡板。
7.根据权利要求1的系统，其特征在于，练习工具设定为一个腹腔检查工具并且包括一个套针。
8.根据权利要求1的系统，其特征在于，练习工具设定为导尿管、皮下注射用的针、金属丝、光纤束、触笔、游戏杆、螺丝刀、击球杆和手柄。
9.根据权利要求1的系统，其特征在于，系统包括多个练习工具。
10.根据权利要求1的系统，其特征在于，机械模拟装置包含：
一个接地部件；
一个连接在接地部件上的机械连杆；
一个连接着练习工具和机械连杆的直线轴部件；
至少一个连接在接地部件上的致动器；和
一个与所述至少一个致动器接合并与机械连杆连接的缆绳。
11.根据权利要求10的系统，其特征在于，系统包括至少四个致动器。
12.根据权利要求11的系统，其特征在于，该至少四个致动器含有直流电动机。
13.根据权利要求11的系统，其特征在于，系统包括至少三个缆绳，与该至少四个致动器以各种形式接合。
14.根据权利要求10的系统，进一步包含至少一个传感器以感知至少一个致动器和机械连杆中的至少一个的运动。
15.根据权利要求10的系统，进一步包含至少四个传感器以感知至少四个致动器和机械连杆中的至少一个的运动。
16.一种通过提供抵抗力为用户提供真实感觉的系统，该系统包括：
一个用户接合的可接合的练习工具；
一个连接着练习工具的机械模拟装置，机械模拟装置包含：
一个接地部件；
一个转动地连接在接地部件上的机械连杆；
一个连接着练习工具和机械连杆的直线轴部件；
至少四个连接着接地部件的致动器；
至少一个传感器，用来感知致动器和机械连杆中的至少一个的移动；和
至少三条与至少四个致动器接触的缆绳，并且连接在机械连杆上；
一个连接在模拟装置上的接口装置；以及
一个连接着接口装置的主机电脑，用来执行应用程序，应用程序为致动器提供移动缆绳的信号并借此移动机械连杆。
17.根据权利要求16的系统，其特征在于，练习工具设定成一个练习医疗的工具。
18.根据权利要求16的系统，其特征在于，接口装置包括在主机电脑和机械模拟装置之一中。
19.根据权利要求16的系统，其特征在于，接口装置独立于主机电脑和机械模拟装置。
20.根据权利要求16的系统，其特征在于，所述至少四个致动器包含直流电动机。
21.根据权利要求16的系统，其特征在于，接口装置包含一个位于机械模拟装置之中的微处理器。
22.根据权利要求16的系统，其特征在于，系统进一步包含一个位于机械模拟装置和用户之间的挡板。
23.根据权利要求16的系统，其特征在于，练习工具设定为一个腹腔检查工具并且包括一个套针。
24.根据权利要求16的系统，其特征在于，练习工具设定为导尿管、皮下注射用的针、金属丝、光纤束、触笔、游戏杆、螺丝刀、击球杆和手柄。
25.根据权利要求16的系统，其特征在于，系统包括多个练习工具。
26.一种通过提供抵抗力为用户提供真实的感觉的方法，方法包括
提供一个连接在含有机械连杆的机械模拟装置上的可接合的练习工具、至少一个致动器、至少一个与所述至少一个致动器接合并与机械连杆连接的缆绳、和一个传感器；
由用户接合工具；
用户象练习工具施加力；
用传感器感知工具的位置；
把感知的位置提供到包括应用程序的主机电脑；和
把来自主机电脑的信号提供给所述至少一个致动器以移动至少一个缆绳，从而移动机械连杆，信号是基于感知的位置和应用程序的。
27.根据权利要求26的方法，其特征在于，机械模拟装置包含至少四个致动器、和至少三条与该至少四个致动器以各种形式接合并且与机械连杆连接的缆绳，其中来自主机电脑的信号提供给所述至少四个致动器中的至少一个来移动至少三条缆绳中的至少一条，从而移动机械连杆，信号是基于感知的位置和应用程序的。
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CN105700783A (zh) * 2014-11-26 2016-06-22 中国科学院沈阳自动化研究所 基于力反馈的安全远程力觉书写系统及其控制方法
CN104966431A (zh) * 2015-07-28 2015-10-07 中国医学科学院北京协和医院 一种适用于微创外科技术研究和训练的实验台
CN104966431B (zh) * 2015-07-28 2018-05-04 中国医学科学院北京协和医院 一种适用于微创外科技术研究和训练的实验台
CN108171628A (zh) * 2017-12-28 2018-06-15 北京哈工科教机器人科技有限公司 一种工程教育平台系统
CN108171628B (zh) * 2017-12-28 2021-06-18 北京哈工科教机器人科技有限公司 一种工程教育平台系统

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WO2003009069A8 (en) 2004-05-06
KR20100060009A (ko) 2010-06-04
KR101009865B1 (ko) 2011-01-19
US7404716B2 (en) 2008-07-29
WO2003009069A1 (en) 2003-01-30
US20030068607A1 (en) 2003-04-10
JP4366185B2 (ja) 2009-11-18
KR101154809B1 (ko) 2012-06-18
CN100415177C (zh) 2008-09-03
US7056123B2 (en) 2006-06-06
EP1417547B1 (en) 2010-11-24
US20060099560A1 (en) 2006-05-11
US20090009492A1 (en) 2009-01-08
ATE489662T1 (de) 2010-12-15
KR20040018465A (ko) 2004-03-03
JP2004535870A (ja) 2004-12-02
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EP1417547A1 (en) 2004-05-12

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