JP2009524149A - ハプティックレンダリングのための装置および方法 - Google Patents
ハプティックレンダリングのための装置および方法 Download PDFInfo
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- JP2009524149A JP2009524149A JP2008551271A JP2008551271A JP2009524149A JP 2009524149 A JP2009524149 A JP 2009524149A JP 2008551271 A JP2008551271 A JP 2008551271A JP 2008551271 A JP2008551271 A JP 2008551271A JP 2009524149 A JP2009524149 A JP 2009524149A
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Abstract
Description
本発明はロボットシステムにおけるレンダリングに関し、特にハプティックシステムにおけるレンダリングに関する。
本出願は、2006年2月21日に出願され、2006年6月29日に公開された米国特許出願第11/357,197号の一部継続出願であり、第11/357,197号出願は、2003年3月6日に出願され、2004年2月5日に公開された米国特許出願第10/384,072号の一部継続出願、2003年3月6日に出願され、2004年2月19日に公開された米国特許出願第10/384,077号の一部継続出願、および、2003年3月6日に出願され、2004年2月19日に公開された米国特許出願第10/384,194号の一部継続出願であり、これらの各出願は2002年3月6日に出願された米国特許仮出願第60/362,368号に基づく優先権を主張する。第11/357,197号出願は、2003年7月16日に出願され、2004年6月3日に公開された米国特許出願第10/621,119号の一部継続出願でもあり、第10/621,119号出願は、2002年3月6日に出願された米国特許仮出願第60/362,368号に基づく優先権を主張する2003年3月6日に出願され、2004年2月19日に公開された米国特許出願第10/384,078号の一部継続出願である。第11/357,197号出願は、2005年2月22日に出願された米国特許仮出願第60/655,642号、および、2006年1月17日に出願された米国特許仮出願第60/759,186号に基づく優先権をさらに主張する。上記に参照した公開出願のそれぞれは、参照によりその全体が本明細書に組み入れられる。
ハプティックインターフェイスは、ユーザが仮想環境またはハプティック環境内で接触の感覚を感知することを可能にする。このようなインターフェイスは、仮想現実ゲーム中に、および、仮想的に映像化されるタスクを実行する際に受け入れられている。タスクを実行するユーザを助けるために仮想画像を使用する一つの領域は、コンピュータ支援外科手術である。
一局面では、本発明はハプティックペナルティ力を生成する方法に関する。一態様では、本方法は、1次プロキシ位置を定義する段階、2次プロキシ位置を定義する段階、HIP位置を定義する段階、HIPが1次プロキシ位置から所定の値以下の侵入深さに位置しているときに1次プロキシ位置およびHIP位置に応じて第1の力を生成する段階、および2次プロキシ位置が1次プロキシ位置から所定の値より深い侵入深さに位置付けられているときに2次プロキシ位置およびHIP位置に応じて第2の力を生成する段階を含む。一態様では、所定の値は所望のハプティックオフセットである。別の態様では、第1の力は零である。さらに別の態様では、第2の力は2次プロキシ位置とHIP位置との間の距離の関数である。さらに別の態様では、第1の力は1次プロキシ位置とHIP位置との間の距離の関数である。別の態様では、2次プロキシ位置は、少なくとも部分的にHIPと仮想ハプティック物体との間の相互作用に応じて決定される。別の態様では、侵入深さは1次プロキシ位置とHIP位置との間の距離である。
概要としては、図1は本発明による外科システム10の態様を表している。外科システム10は、コンピューティングシステム20と、ハプティックロボット装置30と、トラッキング(またはローカライジング)システム40とを含む。操作中に、外科システム10は、包括的な手術中の外科計画を可能にする。外科システム10はさらに、ユーザ(たとえば、外科医)が外科的処置を行うときに、ユーザにハプティックガイダンスを提供し、および/または、ユーザによるハプティック装置30の操作を制限する。
式中、fsi,tはHIPの現在位置とi番目のポリゴン上の仮想プロキシ点の可能な位置とによって定義されたばね力ベクトルの単位ベクトルを表し、ft-1は前の時点で表示されたハプティック力の単位ベクトルを表す。一態様では、面570が新しいアクティブポリゴンであり、位置580が新しいプロキシ点位置である。
式中、xi,vpはi番目のポリゴン上の可能な仮想プロキシ点の位置を表し、xhipは現在のハプティックインターフェイス点の位置を表している。この状況では、アルゴリズムは、オン状態ポリゴンとして、処理順序に応じて面584または面586のいずれかをセットし、位置596がプロキシ点位置となる。
として与えられた随伴変換行列を示すことにする。
を計算し、ここで、xvpは現在の仮想プロキシ点の位置を表し、xhipは現在のハプティックインターフェイス点の位置を表す。
を計算し、ここで、
は仮想プロキシ点の速度を表し、
はハプティックインターフェイス点の速度を表し、IKDは慣性フレームにおける空間的な減衰行列を表す。
式中、JTは転置ヤコビアンである。その後、コンピューティングシステム20はジョイントトルクτを出力するためにハプティック装置30のアクチュエータを制御する。
d=||(Pi-HIP)||
もし、d<aであるならば、F=定数 たとえば0である。
そうでなければ、Kp(Si-HIP)である。
によって与えられる。ここで、xhipはハプティック相互作用点であり、xproxyはHIP位置に対応する面上の位置であり、Kpは復元ばね力定数であり、
はハプティック相互作用点の速度であり、
はプロキシの速度であり、Kdは減衰力定数である。ある位置へジョイントを移動するため、または、ある位置でジョイントを保持するために必要なジョイント上のトルクは、カルテシアン空間内の位置を移動するために必要な力に転置ヤコビアンを適用することによって計算され得る。
ハプティック安定性=f(α1,α2,α3,α4)
によって与えられ、ここで、α1はサンプリング時間(たとえば1KHz)の関数であり、α2はセンサ分解能の関数であり、α3はトランスミッションのばね定数Kpと減衰定数Kdの関数であり、α4は物理的減衰(たとえば摩擦)の関数である。
Fd=Kd(dx/dtHIP-dx/dtproxy)
によって与えられ、式中、dx/dt=Jdθi/dt、かつ、
dθ/dt=[dθ1c/dt, dθ2c/dt, dθ3c/dt, dθ4c/dt, dθ5d/dt]T
である。
θproxy=逆運動学(pi) および
θHIP=逆運動学(hi)
式中、pおよびhはそれぞれプロキシ位置およびHIP位置である。
τ=Kpj(θproxy-θHIP)-Kdjdθ/dt
Fばね=Kpx(pi-hi)
によって定義される。
式中、Kpxはカルテシアンばね力定数であり、(pi-hi)はプロキシ点の位置(p)とHIPの位置(h)との間の距離である。ばね力と等価である対応するジョイントトルク(τばね)は、このとき次の通りである。
τばね=JTFばね
式中、F6は一般化力(レンチ)ベクトルF6∈R6であり、F∈R3はカルテシアン力ベクトルを表し、F∈R3はカルテシアンモーメントベクトルを表す。
v=JT(θ)u
τ=(τ減衰)+(τばね)
Claims (23)
2次プロキシ位置を定義する段階;
HIP位置を定義する段階;
HIPが1次プロキシ位置から所定の値以下の侵入深さに位置しているときに、1次プロキシ位置およびHIP位置に応じて第1の力を生成する段階;ならびに
2次プロキシ位置が1次プロキシ位置から所定の値より大きい侵入深さに位置付けられているときに、2次プロキシ位置およびHIP位置に応じて第2の力を生成する段階
を含む、ハプティックペナルティ力を生成するための方法。
2次プロキシ位置を定義する2次プロキシ位置ロケータ、
HIP位置を定義するHIP位置ロケータ、ならびに
HIPが1次プロキシ位置から所定の値以下の侵入深さに位置しているときに1次プロキシ位置およびHIP位置に応じて第1の力を発生し、2次プロキシ位置が1次プロキシ位置から所定の値より大きい侵入深さに位置付けられているときに2次プロキシ位置およびHIP位置に応じて第2の力を発生する力発生器
を含む、ハプティック力を発生する装置。
b)複数のポリゴンレンダリング要素を含むポリゴン空間を定義する段階、
c)各ボクセル要素およびそのそれぞれのポリゴンレンダリング要素のデータ構造を生成する段階、
d)ハプティック空間内で点の位置を見つける段階、
e)その点を対応するボクセル要素にマッピングする段階、ならびに
f)データ構造中で少なくとも1個のポリゴンレンダリング要素を選択する段階
を含む、ハプティック空間内で位置をマッピングするための方法。
ばね力に応じてジョイント空間ばねトルクを計算する段階;
ジョイント速度に応じてジョイント空間減衰トルクを計算する段階;ならびに
ジョイント空間減衰トルクとジョイント空間ばねトルクを加算する段階
を含む、複数のトランスミッションメカニズムおよび複数のジョイントを有するシステムにおいてハプティック安定性を増大させるための方法。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US75918606P | 2006-01-17 | 2006-01-17 | |
US60/759,186 | 2006-01-17 | ||
US11/357,197 | 2006-02-21 | ||
US11/357,197 US8010180B2 (en) | 2002-03-06 | 2006-02-21 | Haptic guidance system and method |
PCT/US2006/049216 WO2007117297A2 (en) | 2006-01-17 | 2006-12-27 | Apparatus and method for haptic rendering |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009524149A true JP2009524149A (ja) | 2009-06-25 |
JP4898836B2 JP4898836B2 (ja) | 2012-03-21 |
Family
ID=38581519
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JP2008551271A Active JP4898836B2 (ja) | 2006-01-17 | 2006-12-27 | ハプティックレンダリングのための装置および方法 |
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EP (2) | EP3556311B1 (ja) |
JP (1) | JP4898836B2 (ja) |
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AU (1) | AU2006341557A1 (ja) |
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