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WO2003009069A8 - Interface apparatus with cable-driven force feedback and four grounded actuators - Google Patents

Interface apparatus with cable-driven force feedback and four grounded actuators


Publication number
WO2003009069A8 PCT/US2002/022750 US0222750W WO2003009069A8 WO 2003009069 A8 WO2003009069 A8 WO 2003009069A8 US 0222750 W US0222750 W US 0222750W WO 2003009069 A8 WO2003009069 A8 WO 2003009069A8
Grant status
Patent type
Prior art keywords
Prior art date
Application number
Other languages
French (fr)
Other versions
WO2003009069A1 (en )
Pedro Gregorio
Neil T Olien
David W Bailey
Steven P Vassallo
Original Assignee
Immersion Corp
Pedro Gregorio
Neil T Olien
David W Bailey
Steven P Vassallo
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date



    • G09B23/00Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/285Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/71Manipulators operated by drive cable mechanisms
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/76Manipulators having means for providing feel, e.g. force or tactile feedback
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681Aspects not otherwise provided for
    • A61B2017/00707Dummies, phantoms; Devices simulating patient or parts of patient
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/74Manipulators with manual electric input means
    • A61B2034/741Glove like input devices, e.g. "data gloves"
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/40Robotics, robotics mapping to robotics vision
    • G05B2219/40122Manipulate virtual object, for trajectory planning of real object, haptic display
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/45Nc applications
    • G05B2219/45118Endoscopic, laparoscopic manipulator


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 (46), a mechanical linkage (38) rotatably coupled to the ground member (47), a linear axis member coupled to the practice tool and the mechanical linkage (38), at least four actuators (62, 64, 66, 70) coupled to the ground member, sensors (65, 67, 69) for sensing movement of the actuators, and at least three cables in contact with the at least four (actuators ) (65, 64, 66, 70) and coupled to the mechanical linkage (38). An interface device is coupled to the simulation apparatus and a host computer (20) is coupled to the interface device (14) for implementing an application program. The application program provides signals for the actuators (62, 64, 66, 70) to move the cables (130) and thereby move the mechanical linkage (38).
PCT/US2002/022750 2001-07-16 2002-07-16 Interface apparatus with cable-driven force feedback and four grounded actuators WO2003009069A8 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US30595701 true 2001-07-16 2001-07-16
US60/305,957 2001-07-16
US10/196,563 2002-07-15
US10196563 US7056123B2 (en) 2001-07-16 2002-07-15 Interface apparatus with cable-driven force feedback and grounded actuators

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
KR20047000654A KR101009865B1 (en) 2001-07-16 2002-07-16 System and method for providing force feedback to a user
EP20020748193 EP1417547B1 (en) 2001-07-16 2002-07-16 Interface apparatus with cable-driven force feedback and four grounded actuators
JP2003514348A JP4366185B2 (en) 2001-07-16 2002-07-16 Interface device and four grounded actuator having a force feedback by cable drive
KR20107009058A KR101154809B1 (en) 2001-07-16 2002-07-16 Medical simulation apparatus and method of using the same
DE2002638411 DE60238411D1 (en) 2001-07-16 2002-07-16 Interface device with cable-driven force feedback-and four associated with mass Vice divided

Publications (2)

Publication Number Publication Date
WO2003009069A1 true WO2003009069A1 (en) 2003-01-30
WO2003009069A8 true true WO2003009069A8 (en) 2004-05-06



Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2002/022750 WO2003009069A8 (en) 2001-07-16 2002-07-16 Interface apparatus with cable-driven force feedback and four grounded actuators

Country Status (7)

Country Link
US (3) US7056123B2 (en)
EP (1) EP1417547B1 (en)
JP (1) JP4366185B2 (en)
KR (2) KR101009865B1 (en)
CN (1) CN100415177C (en)
DE (1) DE60238411D1 (en)
WO (1) WO2003009069A8 (en)

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