Claims
- 1. An interface device capable of communicating with a computer running a simulation program, the interface device comprising:
an instrument capable of being manipulated by a user; an instrument receiving member comprising an orifice capable of receiving the instrument, the instrument receiving member comprising a capture member engageable with the instrument and movable in an at least partially arcuate path in the instrument receiving member; and a sensor in the instrument receiving member to sense a position of the instrument and to generate a position signal related to the position, whereby the position signal may be used by the computer to control a graphic image.
- 2. An interface device according to claim 1 further comprising an actuator coupled to the instrument to provide force feedback to the user in response to a force signal from the computer, whereby the position signal may be used by the computer to generate the force signal.
- 3. An interface device according to claim 1 wherein the instrument is releasable from the capture member.
- 4. An interface device according to claim 1 wherein the instrument is insertable into and removable from the instrument receiving member.
- 5. An interface device according to claim 1 wherein the instrument is a mock surgical instrument.
- 6. An interface device according to claim 5 wherein the mock surgical instrument is a mock endoscope.
- 7. An interface device according to claim 1 wherein the capture member is locatable adjacent the orifice and comprises a bendable shaft.
- 8. An interface device according to claim 1 wherein the capture member comprises a shaft coupled to a sensor capable of sensing rotation of the capture member.
- 9. An interface device according to claim 8 wherein the shaft is coupled to an actuator capable of applying rotational force feedback to the instrument engaged by the capture member.
- 10. An interface device according to claim 1 wherein the arcuate path is defined by a rotatable wheel.
- 11. An interface device according to claim 10 wherein the wheel comprises a groove to receive the capture member.
- 12. An interface device according to claim 11 wherein the groove is on an edge of the wheel.
- 13. An interface device according to claim 11 wherein the groove is helical.
- 14. An interface device according to claim 11 wherein the wheel further comprises a second groove.
- 15. An interface device according to claim 11 further comprising a belt covering at least a portion of the groove.
- 16. An interface device according to claim 15 wherein the belt drivingly engages the wheel.
- 17. An interface device according to claim 16 further comprising a force feedback actuator coupled to the belt.
- 18. An interface device according to claim 15 wherein the belt is drivingly engaged by the wheel.
- 19. An interface device according to claim 18 further comprising a force feedback actuator coupled to the wheel.
- 20. An interface device capable of communicating with a computer running a simulation program, the interface device comprising:
an instrument capable of being manipulated by a user; an instrument receiving member comprising an orifice capable of receiving the instrument, the instrument receiving member comprising a belt capable of contacting the instrument; and a sensor in the instrument receiving member to sense a position of the instrument and to generate a position signal related to the position, whereby the position signal may be used by the computer to control a graphic image.
- 21. An interface device according to claim 20 further comprising an actuator coupled to the instrument to provide force feedback to the user in response to a force signal from the computer, whereby the position signal may be used by the computer to generate the force signal.
- 22. An interface device according to claim 20 wherein the instrument is a mock surgical instrument.
- 23. An interface device according to claim 20 wherein the instrument is releasably engageable to a capture member.
- 24. An interface device according to claim 23 wherein the capture member comprises a shaft coupled to a sensor capable of sensing rotation of the capture member.
- 25. An interface device according to claim 24 wherein the shaft is coupled to an actuator capable of applying rotational force feedback to the instrument engaged by the capture member.
- 26. An interface device according to claim 24 wherein the capture member is fixed to a wheel, the belt engaging the wheel.
- 27. An interface device according to claim 26 wherein the capture member is within a groove in the wheel and the belt covers at least a portion of the groove.
- 28. An interface device according to claim 26 wherein the belt drivingly engages the wheel.
- 29. An interface device according to claim 28 further comprising a force feedback actuator coupled to the belt.
- 30. An interface device capable of communicating with a computer running a simulation program, the interface device comprising:
an instrument capable of being manipulated by a user; an instrument receiving member comprising an orifice capable of receiving the instrument; a position detector to generate a position signal related to a position of the instrument in the instrument receiving member; and means for forcing the instrument and reducing undesired bending of the instrument, whereby the position signal may be used by the computer to control a graphic image and to generate the force signal to force the instrument.
- 31. An interface device according to claim 30 wherein the means for forcing the instrument and reducing undesired bending of the instrument comprises a belt.
- 32. An interface device according to claim 30 wherein the means for forcing the instrument and reducing undesired bending of the instrument comprises a belt capable of maintaining the instrument on a wheel.
- 33. An interface device according to claim 32 wherein means for forcing the instrument and reducing undesired bending of the instrument further comprises an actuator capable of driving the belt or the wheel.
- 34. An interface device according to claim 30 further comprising a capture member in the instrument receiving member, the capture member releasably engagable with the instrument.
- 35. An interface device according to claim 30 wherein the position detector comprises a sensor in the instrument receiving member.
- 36. An interface device capable of communicating with a computer running a simulation program, the interface device comprising:
an instrument capable of being manipulated by a user, the instrument having a longitudinal axis; an instrument receiving member comprising an orifice capable of receiving the instrument; a sensor in the instrument receiving member to sense a rotational position of the instrument about its longitudinal axis and to generate a position signal related to the rotational position; and an actuator coupled to the instrument to provide rotational force feedback to the user by rotating the instrument about its longitudinal axis in response to a force signal from the computer, whereby the position signal may be used by the computer to control a graphic image.
- 37. An interface device according to claim 36 comprising a capture member in the instrument receiving member, the capture member removably engageable with the instrument.
- 38. An interface device according to claim 37 wherein the capture member is locatable adjacent the orifice and comprises a shaft coupled to the actuator.
- 39. An interface device according to claim 36 wherein the instrument is insertable into and removable from the instrument receiving member.
- 40. An interface device according to claim 36 wherein the instrument is a mock surgical instrument.
- 41. An interface device capable of communicating with a computer running a simulation program, the interface device comprising:
an instrument capable of being manipulated by a user, the instrument comprising a distal end; an instrument receiving member comprising an orifice capable of receiving the instrument, the instrument receiving member comprising a capture member comprising a locking mechanism to lock the distal end of the instrument to the capture member; and a sensor in the instrument receiving member to sense a position of the instrument and to generate a position signal related to the position, whereby the position signal may be used by the computer to control a graphic image.
- 42. An interface device according to claim 41 further comprising an actuator coupled to the instrument to provide force feedback to the user in response to a force signal from the computer, whereby the position signal may be used by the computer to generate the force signal.
- 43. An interface device according to claim 41 wherein the distal end of the instrument comprises an opening and the capture member comprises a male portion receivable in the opening.
- 44. An interface device according to claim 43 wherein the locking mechanism locks the capture member to the instrument when the capture mechanism is moved beyond a home position and unlocks the capture member from the instrument when the capture member returns to the home position.
- 45. An interface device capable of communicating with a computer running a simulation program, the interface device comprising:
an instrument capable of being manipulated by a user; an instrument receiving member comprising a first orifice capable of receiving the instrument and a second orifice capable of receiving the instrument or a different instrument, the instrument receiving member comprising a first capture member associated with the first orifice and engageable with the instrument and a second capture member associated with the second orifice and engageable with the instrument or the different instrument; and a sensor in the instrument receiving member to sense a position of the instrument and to generate a position signal related to the position, whereby the position signal may be used by the computer to control a graphic image.
- 46. An interface device according to claim 45 further comprising an actuator coupled to the instrument to provide force feedback to the user in response to a force signal from the computer, whereby the position signal may be used by the computer to generate the force signal.
- 47. An interface device capable of communicating with a computer running a simulation program, the interface device comprising:
an instrument capable of being manipulated by a user; a handle on the instrument, the handle comprising a sensor to detect the presence or absence of a body part of the user and generating a signal related thereto, whereby the signal may be used by the computer to control a graphic image.
- 48. An interface device according to claim 47 wherein the sensor comprises a radiation emitter and a radiation detector.
- 49. An interface device according to claim 47 wherein the sensor is positioned within a pushable button.
- 50. An interface device according to claim 49 further comprising a sensor capable of detecting when the button is pushed.
- 51. A method of interfacing a user with a computer running a simulation program, the method comprising:
inserting an instrument into an orifice; detecting a position of the instrument; providing visual feedback to the user based on the detected position; and providing rotational force feedback to the user based on the detected position.
- 52. A method according to claim 51 wherein the instrument is a mock surgical instrument.
- 53. A method according to claim 51 wherein the instrument is inserted into the orifice to an insertion depth of at least about 100 cm.
- 54. A method of interfacing a user with a computer running a simulation program, the method comprising:
inserting an instrument into an orifice, the instrument following an at least partially arcuate path; detecting a position of the instrument; and providing force feedback to the user through the instrument based on the detected position.
- 55. A method according to claim 51 wherein the instrument is a mock surgical instrument.
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation-in-part of U.S. patent application Ser. No. 09/237,969, filed on Jan. 27, 1999 and entitled “Interface Device and Method for Interfacing Instruments to Medical Procedure Simulation Systems”, which is a continuation-in-part of U.S. patent application Ser. No. 08/923,477, filed on Sep. 4, 1997, now U.S. Pat. No. 6,106,301, which claims priority from U.S. Provisional Application Ser. No. 60/025,433, filed on Sep. 4, 1996, said U.S. patent application Ser. No. 09/237,969 also claiming priority from U.S. Provisional Application Ser. No. 60/072,672, filed on Jan. 28, 1998, U.S. Provisional Application Ser. No. 60/110,661, filed on Oct. 26, 1998, and U.S. Provisional Application Ser. No. 60/116,545, filed Jan. 21, 1999, all of these disclosures being incorporated herein by reference in their entireties.
Provisional Applications (4)
|
Number |
Date |
Country |
|
60025433 |
Sep 1996 |
US |
|
60072672 |
Jan 1998 |
US |
|
60110661 |
Dec 1998 |
US |
|
60116545 |
Jan 1999 |
US |
Continuation in Parts (2)
|
Number |
Date |
Country |
Parent |
09237969 |
Jan 1999 |
US |
Child |
09738424 |
Dec 2000 |
US |
Parent |
08923477 |
Sep 1997 |
US |
Child |
09237969 |
Jan 1999 |
US |