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公开(公告)号：US20110118779A1
公开(公告)日：2011-05-19
申请号：US13011880
申请日：2011-01-22
IPC分类号： A61B17/00
CPC分类号： G06F3/016 , A61B34/70 , A61B34/74 , A61B34/76 , G09B23/285
摘要： A surgical instrument is disclosed having a distal end connected to a handle via an elongated mechanical linkage. The handle includes a first grip portion and a second grip portion pivotably coupled such that the distal end is controllable by manipulation of the handle. At least one sensor is coupled to the distal end of the surgical instrument, wherein the sensor detects a condition at the distal end. An actuator is coupled to one of the first and second grip portions is configured to provide haptic effects to the one of the first and second grip portions. A controller is electrically coupled to the sensor and electrically coupled to the actuator, wherein the controller controls operation of the actuator such that the haptic effects are feedback relating to the sensed condition.
摘要翻译： 公开了一种外科器械，其具有通过细长的机械连接件连接到手柄的远端。 手柄包括第一抓握部分和可枢转地联接的第二抓握部分，使得远端可通过操纵手柄来控制。 至少一个传感器联接到外科器械的远端，其中传感器检测远端的状况。 致动器联接到第一和第二把手部分中的一个构造成为第一和第二握持部分中的一个提供触觉效果。 控制器电耦合到传感器并电耦合到致动器，其中控制器控制致动器的操作，使得触觉效果是与感测到的状况有关的反馈。
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公开(公告)号：US07877243B2
公开(公告)日：2011-01-25
申请号：US10196717
申请日：2002-07-15
CPC分类号： G06F3/016 , A61B34/70 , A61B34/74 , A61B34/76 , G09B23/285
摘要： A computer interface for use with a computer simulation system. The interface includes a first grip portion and a second grip portion pivotably coupled to the first grip portion. An actuator is coupled to at least one of the two grip portions and is configured to provide feedback to a user.
摘要翻译： 用于与计算机模拟系统一起使用的计算机接口。 界面包括第一握持部分和可枢转地联接到第一抓握部分的第二抓握部分。 致动器联接到两个把手部分中的至少一个，并被配置为向用户提供反馈。
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3.发明授权Interface apparatus with cable-driven force feedback and four grounded actuators 有权具有电缆驱动力反馈的接口设备和四个接地执行器公开(公告)号：US07404716B2
公开(公告)日：2008-07-29
申请号：US11301831
申请日：2005-12-12
IPC分类号： G09B23/28
CPC分类号： G09B23/285 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2017/00707 , A61B2034/741 , G05B2219/40122 , G05B2219/45118
摘要： A system for providing realistic sensation within a simulation system by providing tactile (haptic) feedback to a user. The system includes an engageable practice tool that the user engages and a mechanical simulation apparatus coupled to the practice tool. The mechanical simulation apparatus includes a ground member, a mechanical linkage rotatably coupled to the ground member, a linear axis member coupled to the practice tool and the mechanical linkage, at least four actuators coupled to the ground member, sensors for sensing movement of the actuators, and at least three cables in contact with the at least four actuators and coupled to the mechanical linkage. An interface device is coupled to the simulation apparatus and a host computer is coupled to the interface device for implementing an application program. The application program provides signals for the actuators to move the cables and thereby move the mechanical linkage.
摘要翻译： 一种通过向用户提供触觉（触觉）反馈来在模拟系统内提供逼真感觉的系统。 该系统包括用户接合的可接合的练习工具和耦合到练习工具的机械模拟装置。 机械模拟装置包括接地构件，可旋转地联接到接地构件的机械连杆，联接到练习工具和机械连杆的线性轴构件，耦合到接地构件的至少四个致动器，用于感测致动器的运动的传感器 以及至少三根电缆，其与所述至少四个致动器接触并且联接到所述机械连杆。 接口设备耦合到模拟设备，并且主计算机耦合到接口设备以实现应用程序。 应用程序提供致动器的信号以移动电缆，从而移动机械连杆。
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公开(公告)号：US08007282B2
公开(公告)日：2011-08-30
申请号：US12180439
申请日：2008-07-25
IPC分类号： G09B23/28
CPC分类号： G09B23/285 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2017/00707 , A61B2034/741 , G05B2219/40122 , G05B2219/45118
摘要： A system and method of providing a surgical training apparatus which comprises a plurality of mechanical interfaces each of which is configured to receive a user tool operable by a user. Each mechanical interface of the plurality is configured to allow movement of its respective user tool in a rotational degree of freedom and a linear degree of freedom. The apparatus includes one or more sensors which are coupled to the mechanical interfaces and configured to simultaneously sense positional information of each user tool during movement. A computer coupled to the one or more sensors and configured to run a software application simulating each user tool as a respective simulated surgical tool operating on a simulated body part in a displayed graphical environment, wherein the computer updates movement of each simulated user tool in the graphical environment based on said positional information.
摘要翻译： 一种提供外科训练装置的系统和方法，其包括多个机械接口，每个机械接口被配置为接收用户可操作的用户工具。 多个机械接口中的每个机械接口构造成允许其各自的使用者工具以旋转自由度和线性自由度的运动。 该装置包括一个或多个传感器，其耦合到机械接口并被配置为在运动期间同时感测每个用户工具的位置信息。 耦合到所述一个或多个传感器并被配置为运行模拟每个用户工具的软件应用程序作为在所显示的图形环境中在模拟身体部位上操作的相应的模拟外科手术工具的计算机，其中所述计算机更新每个模拟用户工具的运动 基于所述位置信息的图形环境。
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公开(公告)号：US20090009492A1
公开(公告)日：2009-01-08
申请号：US12180439
申请日：2008-07-25
CPC分类号： G09B23/285 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2017/00707 , A61B2034/741 , G05B2219/40122 , G05B2219/45118
摘要： A system and method of providing a surgical training apparatus which comprises a plurality of mechanical interfaces each of which is configured to receive a user tool operable by a user. Each mechanical interface of the plurality is configured to allow movement of its respective user tool in a rotational degree of freedom and a linear degree of freedom. The apparatus includes one or more sensors which are coupled to the mechanical interfaces and configured to simultaneously sense positional information of each user tool during movement. A computer coupled to the one or more sensors and configured to run a software application simulating each user tool as a respective simulated surgical tool operating on a simulated body part in a displayed graphical environment, wherein the computer updates movement of each simulated user tool in the graphical environment based on said positional information.
摘要翻译： 一种提供外科训练装置的系统和方法，其包括多个机械接口，每个机械接口被配置为接收用户可操作的用户工具。 多个机械接口中的每个机械接口构造成允许其各自的使用者工具以旋转自由度和线性自由度的运动。 该装置包括一个或多个传感器，其耦合到机械接口并被配置为在运动期间同时感测每个用户工具的位置信息。 耦合到所述一个或多个传感器并被配置为运行模拟每个用户工具的软件应用程序作为在所显示的图形环境中在模拟身体部位上操作的相应的模拟外科手术工具的计算机，其中所述计算机更新每个模拟用户工具的运动 基于所述位置信息的图形环境。
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6.发明授权公开(公告)号：US07056123B2
公开(公告)日：2006-06-06
申请号：US10196563
申请日：2002-07-15
IPC分类号： G09B23/28
CPC分类号： G09B23/285 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2017/00707 , A61B2034/741 , G05B2219/40122 , G05B2219/45118
摘要： A system for providing realistic sensation within a simulation system by providing tactile (haptic) feedback to a user. The system includes an engageable practice tool that the user engages and a mechanical simulation apparatus coupled to the practice tool. The mechanical simulation apparatus includes a ground member, a mechanical linkage rotatably coupled to the ground member, a linear axis member coupled to the practice tool and the mechanical linkage, at least four actuators coupled to the ground member, sensors for sensing movement of the actuators, and at least three cables in contact with the at least four actuators and coupled to the mechanical linkage. An interface device is coupled to the simulation apparatus and a host computer is coupled to the interface device for implementing an application program. The application program provides signals for the actuators to move the cables and thereby move the mechanical linkage.
摘要翻译： 一种通过向用户提供触觉（触觉）反馈来在模拟系统内提供逼真感觉的系统。 该系统包括用户接合的可接合的练习工具和耦合到练习工具的机械模拟装置。 机械模拟装置包括接地构件，可旋转地联接到接地构件的机械连杆，联接到练习工具和机械连杆的线性轴构件，耦合到接地构件的至少四个致动器，用于感测致动器的运动的传感器 以及至少三根电缆，其与所述至少四个致动器接触并且联接到所述机械连杆。 接口设备耦合到模拟设备，并且主计算机耦合到接口设备以实现应用程序。 应用程序提供致动器的信号以移动电缆，从而移动机械连杆。
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7.发明授权公开(公告)号：US08917234B2
公开(公告)日：2014-12-23
申请号：US10686323
申请日：2003-10-15
CPC分类号： G06F3/016 , G06F3/0233 , G06F3/0482 , G06F3/04842
摘要： Products and processes for providing haptic feedback in a user interface device are disclosed. In one exemplary embodiment, a process comprises defining a first cell, mapping a first location of a matrix with the defined first cell, and mapping a second location of the matrix with the defined first cell. The first cell comprises a first parameter representing a first haptic effect.
摘要翻译： 公开了在用户界面设备中提供触觉反馈的产品和过程。 在一个示例性实施例中，过程包括定义第一小区，将矩阵的第一位置与所定义的第一小区进行映射，以及将矩阵的第二位置与所定义的第一小区进行映射。 第一单元包括表示第一触觉效果的第一参数。
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8.发明授权Products and processes for providing haptic feedback in resistive interface devices 有权在电阻式接口设备中提供触觉反馈的产品和过程公开(公告)号：US08154512B2
公开(公告)日：2012-04-10
申请号：US12426862
申请日：2009-04-20
申请人： Neil T. Olien , Pedro Gregorio
发明人： Neil T. Olien , Pedro Gregorio
IPC分类号： G09G5/00
摘要： Products and processes for providing haptic feedback in a user interface are disclosed. One exemplary embodiment of an apparatus comprises a first element comprising a first surface, a second element comprising a second surface, and an actuator configured vary a force between the first and second surfaces. In one embodiment, the second element may be configured to be displaced relative to first element in a degree of freedom. In another embodiment, at least one of the first surface and the second surface may comprise a thermoplastic polymer.
摘要翻译： 公开了在用户界面中提供触觉反馈的产品和过程。 装置的一个示例性实施例包括第一元件，第一元件包括第一表面，包括第二表面的第二元件，以及构造在第一表面和第二表面之间的力的致动器。 在一个实施例中，第二元件可以被配置为在自由度方面相对于第一元件移位。 在另一个实施方案中，第一表面和第二表面中的至少一个可以包含热塑性聚合物。
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9.发明授权Products and processes for providing haptic feedback in resistive interface devices 有权在电阻式接口设备中提供触觉反馈的产品和过程公开(公告)号：US07522152B2
公开(公告)日：2009-04-21
申请号：US10855902
申请日：2004-05-27
申请人： Neil T. Olien , Pedro Gregorio
发明人： Neil T. Olien , Pedro Gregorio
IPC分类号： G09G5/00
摘要： Products and processes for providing haptic feedback in a user interface are disclosed. One exemplary embodiment of an apparatus comprises a first element comprising a first surface, a second element comprising a second surface, and an actuator configured vary a force between the first and second surfaces. In one embodiment, the second element may be configured to be displaced relative to first element in a degree of freedom. In another embodiment, at least one of the first surface and the second surface may comprise a thermoplastic polymer.
摘要翻译： 公开了在用户界面中提供触觉反馈的产品和过程。 装置的一个示例性实施例包括第一元件，第一元件包括第一表面，包括第二表面的第二元件，以及构造在第一表面和第二表面之间的力的致动器。 在一个实施例中，第二元件可以被配置为在自由度方面相对于第一元件移位。 在另一个实施方案中，第一表面和第二表面中的至少一个可以包含热塑性聚合物。
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公开(公告)号：US09579143B2
公开(公告)日：2017-02-28
申请号：US13206955
申请日：2011-08-10
CPC分类号： A61B18/12 , A61B18/1206 , A61B18/1442 , A61B34/76 , A61B2018/00303 , A61B2018/00684 , A61B2018/00875
摘要： A surgical tool system including a laparoscopic surgical tool for heating, ablating, sealing, and/or dissecting tissue, a control system for monitoring impedance of the tissue during treatment thereof, and a tactile feedback system integrated onto a handle of the tool that generates relevant feedback from the control system in at least the form of haptic effects to the user. The tactile feedback alerts the tool user of changes in tissue properties, i.e., when the impedance of the tissue indicates that the treatment procedure is complete. In addition, the tactile feedback provided may supply information relating to the operating status of the control system to the user.
摘要翻译： 一种外科手术工具系统，包括用于加热，消融，密封和/或解剖组织的腹腔镜手术工具，用于在其治疗期间监测组织的阻抗的控制系统以及集成到工具的手柄上的触觉反馈系统，其产生相关的 来自控制系统的反馈至少以触觉效果的形式给用户。 触觉反馈提醒工具使用者组织性质的变化，即当组织的阻抗指示治疗程序完成时。 此外，提供的触觉反馈可以向用户提供与控制系统的操作状态有关的信息。
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