公开(公告)号：US07289106B2

公开(公告)日：2007-10-30

申请号：US10846917

申请日：2004-05-17

申请人： David Bailey ,  J. Michael Brown ,  Robert Cohen ,  Richard L. Cunningham ,  Robert B. Falk ,  Miguel A. Otaduy ,  Victor Wu

发明人： David Bailey ,  J. Michael Brown ,  Robert Cohen ,  Richard L. Cunningham ,  Robert B. Falk ,  Miguel A. Otaduy ,  Victor Wu

IPC分类号： G09G5/08

CPC分类号： G06F3/016 ,  A61B1/313 ,  G09B23/28 ,  G09B23/285

摘要： An apparatus comprises a manipulandum, a housing, a sensor and an actuator. The housing has a palpation region spaced apart from the manipulandum. The sensor is coupled to the palpation region of the housing. The sensor is configured to send a signal based on a palpation of the palpation region of the housing. The actuator is coupled to the manipulandum. The actuator is configured to send haptic output to the manipulandum based on the signal.

摘要翻译： 一种装置包括操纵件，壳体，传感器和致动器。 房屋具有与操纵区隔开的触诊区域。 传感器连接到壳体的触诊区域。 传感器被配置为基于壳体的触诊区域的触诊发送信号。 致动器联接到操纵杆。 致动器被配置为基于该信号将触觉输出发送到操纵。

公开(公告)号：US07505030B2

公开(公告)日：2009-03-17

申请号：US10803080

申请日：2004-03-18

申请人： Richard L. Cunningham ,  Robert Cohen

发明人： Richard L. Cunningham ,  Robert Cohen

IPC分类号： G09G5/00

CPC分类号： G09B23/30 ,  B33Y80/00

摘要： A device is disclosed that includes an interface member including a material and a manipulandum movable in a degree of freedom. The manipulandum is able to penetrate the material. A sensor is configured to output a position signal based on the position of the manipulandum. An actuator is configured to output haptic feedback by applying a compressive force to the material based on the position signal. In other embodiments, a method is disclosed that includes receiving a position signal associated with a position of a manipulandum, where at least a portion of the manipulandum penetrates the interface material. Haptic feedback is output by varying a density of the interface material based on the position signal.

摘要翻译： 公开了一种包括能够以自由度移动的材料和操纵的接口构件的装置。 操纵能够穿透材料。 传感器被配置为基于操纵的位置输出位置信号。 致动器构造成通过基于位置信号向材料施加压缩力来输出触觉反馈。 在其他实施例中，公开了一种方法，其包括接收与操纵的位置相关联的位置信号，其中操纵的至少一部分穿透界面材料。 通过基于位置信号改变界面材料的密度来输出触觉反馈。

公开(公告)号：US06929481B1

公开(公告)日：2005-08-16

申请号：US09237969

申请日：1999-01-27

申请人： David Alexander ,  J. Michael Brown ,  Eric Cabahug ,  Philip J. Churchill ,  Robert F. Cohen ,  Richard L. Cunningham ,  Ben Feldman ,  Diego Fontayne ,  Gregory L. Merril ,  Mario Turchi

发明人： David Alexander ,  J. Michael Brown ,  Eric Cabahug ,  Philip J. Churchill ,  Robert F. Cohen ,  Richard L. Cunningham ,  Ben Feldman ,  Diego Fontayne ,  Gregory L. Merril ,  Mario Turchi

IPC分类号： G09B23/28

CPC分类号： G09B23/285

摘要： An interface device and method for interfacing instruments to a medical procedure simulation system serve to interface peripherals in the form of mock medical instruments to the medical procedure simulation system computer to enable simulation of medical procedures. The interface device includes a housing having a mock bodily region of interest to facilitate insertion of a mock instrument, such as an endoscope tube, into the interface device. The mock bodily region of interest may be pivotable to simulate various patient orientations. The instrument is engaged by a capture mechanism in order to measure rotational and translational motion of the instrument. An actuator is disposed within the interface device to provide force feedback to the instrument. The measured motion is provided to the computer system to reflect instrument motion on the display during the simulation. Alternatively, the interface device may be configured to accommodate instrument assemblies having a plurality of nested instruments (e.g., sheath, catheter and wire), whereby the interface device individually grasps, measures manipulation of and provides force feedback to the nested instruments. In addition, the interface device may be configured to simultaneously accommodate a plurality of independently inserted instruments.

摘要翻译： 用于将仪器与医疗程序模拟系统接口的接口装置和方法用于将模拟医疗仪器形式的外围设备连接到医疗程序模拟系统计算机，以便模拟医疗程序。 接口装置包括具有模拟身体感兴趣区域的壳体，以便于将诸如内窥镜管的模拟器械插入到界面装置中。 感兴趣的模拟身体区域可以枢转以模拟各种患者取向。 仪器由捕获机构接合，以测量仪器的旋转和平移运动。 致动器设置在接口装置内以向仪器提供力反馈。 将测量的运动提供给计算机系统以在模拟期间将仪器运动反映在显示器上。 或者，接口装置可以被配置为容纳具有多个嵌套仪器（例如，鞘，导管和线）的仪器组件，由此接口装置单独地掌握，测量对嵌套仪器的操纵并向其提供力反馈。 此外，接口装置可以被配置为同时容纳多个独立插入的装置。

公开(公告)号：US20110148794A1

公开(公告)日：2011-06-23

申请号：US12976640

申请日：2010-12-22

申请人： Richard L. Cunningham ,  Robert F. Cohen ,  Russell H. Dumas ,  Gregory L. Merril ,  Philip G. Feldman ,  Joseph L. Tasto

发明人： Richard L. Cunningham ,  Robert F. Cohen ,  Russell H. Dumas ,  Gregory L. Merril ,  Philip G. Feldman ,  Joseph L. Tasto

IPC分类号： G06F3/041

CPC分类号： G06F3/016 ,  G06F3/03543 ,  G06F3/038 ,  G06F3/04812

摘要： A method for interfacing a user with a computer running an application program, the computer generating a graphical environment comprising a graphical object and a graphical representation of at least a portion of a living body, comprises providing an object in communication with the computer, controlling the graphical object in relation to manipulation of at least a portion of the object by the user, and outputting a haptic sensation to the user when the graphical object interacts with a region within the graphical representation to provide the user with haptic feedback related to a simulated palpation of the region.

摘要翻译： 一种用于将用户与运行应用程序的计算机接口的方法，所述计算机生成包括图形对象的图形环境和生物体的至少一部分的图形表示，所述方法包括提供与所述计算机通信的对象， 关于由用户对至少一部分对象的操纵的图形对象，并且当图形对象与图形表示内的区域交互以向用户提供与模拟触诊相关的触觉反馈时，向用户输出触觉感觉 的区域。

公开(公告)号：US07864164B2

公开(公告)日：2011-01-04

申请号：US11901760

申请日：2007-09-18

申请人： Richard L. Cunningham ,  Robert F. Cohen ,  Russell H. Dumas ,  Gregory L. Merril ,  Philip G. Feldman ,  Joseph L. Tasto

发明人： Richard L. Cunningham ,  Robert F. Cohen ,  Russell H. Dumas ,  Gregory L. Merril ,  Philip G. Feldman ,  Joseph L. Tasto

IPC分类号： G06F3/041

CPC分类号： G06F3/016 ,  G06F3/03543 ,  G06F3/038 ,  G06F3/04812

摘要： A method for interfacing a user with a computer running an application program, the computer generating a graphical environment comprising a graphical object and a graphical representation of at least a portion of a living body, comprises providing an object in communication with the computer, controlling the graphical object in relation to manipulation of at least a portion of the object by the user, and outputting a haptic sensation to the user when the graphical object interacts with a region within the graphical representation to provide the user with haptic feedback related to a simulated palpation of the region.

摘要翻译： 一种用于将用户与运行应用程序的计算机接口的方法，所述计算机生成包括图形对象的图形环境和生物体的至少一部分的图形表示，所述方法包括提供与所述计算机通信的对象， 关于由用户对至少一部分对象的操纵的图形对象，并且当图形对象与图形表示内的区域交互以向用户提供与模拟触诊相关的触觉反馈时，向用户输出触觉感觉 的区域。

公开(公告)号：US07815436B2

公开(公告)日：2010-10-19

申请号：US09738424

申请日：2000-12-15

申请人： Richard L. Cunningham ,  Robert F. Cohen ,  J. Michael Brown ,  Robert B. Falk

发明人： Richard L. Cunningham ,  Robert F. Cohen ,  J. Michael Brown ,  Robert B. Falk

IPC分类号： G09B23/28

CPC分类号： G09B23/285

摘要： An interface device capable of communicating with a computer running a simulation program, such as a surgical simulation program, comprises an instrument capable of being manipulated by a user. The instrument is receivable within an orifice in an instrument receiving member, the instrument receiving member comprising a capture member engageable with the instrument and a sensor to sense a position of the instrument. The position of the instrument is then used by the computer to control a graphic image related to the simulation. In one version, the simulation is a simulation of a surgical instrument insertion procedure, such as an endoscopy procedure.

摘要翻译： 能够与运行模拟程序（例如外科手术模拟程序）的计算机通信的接口装置包括能够被用户操纵的仪器。 仪器可接收在仪器接收构件的孔口内，仪器接收构件包括可与仪器接合的捕获构件和用于感测仪器位置的传感器。 然后由计算机使用仪器的位置来控制与仿真相关的图形图像。 在一个版本中，模拟是手术器械插入程序的模拟，例如内窥镜检查程序。

公开(公告)号：US07202851B2

公开(公告)日：2007-04-10

申请号：US09848966

申请日：2001-05-04

申请人： Richard L. Cunningham ,  Robert F. Cohen ,  Russell H. Dumas ,  Gregory L. Merril ,  Philip G. Feldman ,  Joseph L. Tasto

发明人： Richard L. Cunningham ,  Robert F. Cohen ,  Russell H. Dumas ,  Gregory L. Merril ,  Philip G. Feldman ,  Joseph L. Tasto

IPC分类号： G09G5/00

CPC分类号： G06F3/016 ,  G06F3/03543 ,  G06F3/038 ,  G06F3/04812

摘要： A palpation simulator comprises an interface for interfacing a user with a computer running a palpation simulation. The computer generates a graphical environment comprising a cursor and a graphical representation of at least a portion of a living body. In one version, a method comprises providing an object in communication with the computer, controlling the cursor in relation to manipulation of at least a portion of the object by the user, and outputting a haptic sensation to the user when the cursor interacts with a region within the graphical representation to provide the user with haptic feedback related to a simulated palpation of the region.

摘要翻译： 触诊模拟器包括用于将用户与运行触诊模拟的计算机连接的接口。 计算机生成包括光标的图形环境和生物体的至少一部分的图形表示。 在一个版本中，一种方法包括提供与计算机通信的对象，与用户对对象的至少一部分的操纵有关的控制光标，以及当光标与区域相互作用时向用户输出触觉感觉 在图形表示中以向用户提供与该区域的模拟触诊相关的触觉反馈。

公开(公告)号：US06470302B1

公开(公告)日：2002-10-22

申请号：US09238559

申请日：1999-01-28

申请人： Richard L. Cunningham ,  Philip Feldman ,  Ben Feldman ,  Gregory L. Merril

发明人： Richard L. Cunningham ,  Philip Feldman ,  Ben Feldman ,  Gregory L. Merril

IPC分类号： G06G748

CPC分类号： G09B23/285 ,  G09B23/28 ,  G09B23/30

摘要： An interface device and method for interfacing instruments to a vascular access simulation system serve to interface peripherals in the form of mock or actual medical instruments to the simulation system to enable simulation of medical procedures. The interface device includes a catheter unit assembly for receiving a catheter needle assembly, and a skin traction mechanism to simulate placing skin in traction or manipulating other anatomical sites for performing a medical procedure. The catheter needle assembly and skin traction mechanism are manipulated by a user during a medical procedure. The catheter unit assembly includes a base, a housing, a bearing assembly and a shaft that receives the catheter needle assembly. The bearing assembly enables translation of the catheter needle assembly, and includes bearings that enable the shaft to translate in accordance with manipulation of the catheter needle assembly. The shaft typically includes an encoder to measure translational motion of a needle of the catheter needle assembly, while the interface device further includes encoders to measure manipulation of the catheter needle assembly in various degrees of freedom (e.g., translation, pitch and yaw) and the skin traction mechanism. Alternatively, the shaft may include an additional encoder to measure translational motion of an instrument inserted through the catheter needle assembly. The simulation system receives measurements from the interface device encoders and updates the simulation and display, while providing control signals to the force feedback device to enable application of force feedback to the catheter needle assembly.

摘要翻译： 用于将仪器连接到血管通路模拟系统的接口装置和方法用于将模拟或实际医疗仪器形式的外围设备连接到模拟系统，以便模拟医疗程序。 接口装置包括用于接收导管针组件的导管单元组件和用于模拟将皮肤放置在牵引中或操纵其他解剖部位进行医疗程序的皮肤牵引机构。 导管针组件和皮肤牵引机构在医疗过程中由使用者操纵。 导管单元组件包括接收导管针组件的基座，壳体，轴承组件和轴。 轴承组件使得能够平移导管针组件，并且包括使得轴能够根据导管针组件的操纵而平移的轴承。 轴通常包括用于测量导管针组件的针的平移运动的编码器，而接口装置还包括用于以不同的自由度（例如，平移，俯仰和偏航）测量导管针组件的操纵的编码器，并且 皮肤牵引机构。 或者，轴可以包括用于测量插入穿过导管针组件的器械的平移运动的附加编码器。 模拟系统从接口设备编码器接收测量值并更新模拟和显示，同时向力反馈装置提供控制信号，以便能够向导管针组件施加力反馈。

公开(公告)号：US09336691B2

公开(公告)日：2016-05-10

申请号：US12405052

申请日：2009-03-16

申请人： Richard L. Cunningham ,  Robert Cohen

发明人： Richard L. Cunningham ,  Robert Cohen

IPC分类号： G09G5/00 ,  G09B23/30

CPC分类号： G09B23/30 ,  B33Y80/00

摘要： A device is disclosed that includes an interface member including a material and a manipulandum movable in a degree of freedom. The manipulandum is able to penetrate the material. A sensor is configured to output a position signal based on the position of the manipulandum. An actuator is configured to output haptic feedback by applying a compressive force to the material based on the position signal. In other embodiments, a method is disclosed that includes receiving a position signal associated with a position of a manipulandum, where at least a portion of the manipulandum penetrates the interface material. Haptic feedback is output by varying a density of the interface material based on the position signal.

公开(公告)号：US07833018B2

公开(公告)日：2010-11-16

申请号：US10657079

申请日：2003-09-09

申请人： David Alexander ,  J. Michael Brown ,  Eric Cabahug ,  Philip J. Churchill ,  Robert F. Cohen ,  Richard L. Cunningham ,  Ben Feldman

发明人： David Alexander ,  J. Michael Brown ,  Eric Cabahug ,  Philip J. Churchill ,  Robert F. Cohen ,  Richard L. Cunningham ,  Ben Feldman

IPC分类号： G09B23/28

CPC分类号： G09B23/285

摘要： An interface device and method for interfacing instruments to a medical procedure simulation system serve to interface peripherals in the form of mock medical instruments to the medical procedure simulation system computer to enable simulation of medical procedures. The interface device includes a housing having a mock bodily region of interest to facilitate insertion of a mock instrument, such as an endoscope tube, into the interface device. The mock bodily region of interest may be pivotable to simulate various patient orientations. The instrument is engaged by a capture mechanism in order to measure rotational and translational motion of the instrument. An actuator is disposed within the interface device to provide force feedback to the instrument. The measured motion is provided to the computer system to reflect instrument motion on the display during the simulation. Alternatively, the interface device may be configured to accommodate instrument assemblies having a plurality of nested instruments (e.g., sheath, catheter and wire), whereby the interface device individually grasps, measures manipulation of and provides force feedback to the nested instruments. In addition, the interface device may be configured to simultaneously accommodate a plurality of independently inserted instruments.

摘要翻译： 用于将仪器与医疗程序模拟系统接口的接口装置和方法用于将模拟医疗仪器形式的外围设备连接到医疗程序模拟系统计算机，以便模拟医疗程序。 接口装置包括具有模拟身体感兴趣区域的壳体，以便于将诸如内窥镜管的模拟器械插入到界面装置中。 感兴趣的模拟身体区域可以枢转以模拟各种患者取向。 仪器由捕获机构接合，以测量仪器的旋转和平移运动。 致动器设置在接口装置内以向仪器提供力反馈。 将测量的运动提供给计算机系统以在模拟期间将仪器运动反映在显示器上。 或者，接口装置可以被配置为容纳具有多个嵌套仪器（例如，鞘，导管和线）的仪器组件，由此接口装置单独地掌握，测量对嵌套仪器的操纵并向其提供力反馈。 此外，接口装置可以被配置为同时容纳多个独立插入的装置。