US6323837B1
Expired / Lapsed
US
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Method and apparatus for interfacing an elongated object with a computer system
Assignee: Immersion Medical Inc
•
Filing: 1999-03-25
•
Granted: 2001-11-27
•
Expires: 2019-03-25
Abstract
Abstract An apparatus for interfacing the movement of a shaft with a computer includes a support, a gimbal mechanism having two degrees of freedom, and three electromechanical transducers. When a shaft is engaged with the gimbal mechanism, it can move with three degrees of freedom in a spherical coordinate space, where each degree of freedom is sensed by one of the three transducers. A fourth transducer can be used to sense rotation of the shaft around an axis. The method includes the steps of defining an origin in 3-dimensional space, physically constraining a shaft in the 3-dimensional space such that a portion of the shaft always intersects the origin and such that a portion of the shaft extending beyond the origin defines a radius in a spherical coordinate system, transducing a first electrical signal related to a first angular coordinate of the radius with a first transducer, transducing a second electrical signal related to a second angular coordinate with a second transducer, transducing a third electrical signal related to the length of the radius with a third transducer, and coupling the transducers to a computer.
Inventors
- 👤 Louis B. Rosenberg
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-05 10:26
CPC Classifications
A; A61; A61B; A61B34/00; A61B34/70; A61B34/76; B; B25; B25J; B25J9/00; B25J9/16; B25J9/1679; B25J9/1689; G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/409; G16; G16H; G16H50/00; G16H50/50; A61B34/10; G05B2219/00; G05B2219/30; G05B2219/35; G05B2219/35338; G05B2219/35441; G05B2219/40; G05B2219/40119; G05B2219/40137; G05B2219/45; G05B2219/45118
Claims Analysis
Total Claims: 42
Claim 1
Independent Claim
160 words
A control input device for interfacing the motion of an elongated mechanical object with a computer system, the control input device comprising: a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user wherein said object receiving portion is moveable in at least two degrees of freedom with respect to a fixed surface; a transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement; and control electronics coupled to said transducer, said control electronics reporting a representation of said data received from said transducer to said computer system such that said computer system can update a graphical process in response to said data.
Claim 2
Dependent Claim
160 words
A control input device for interfacing the motion of an elongated mechanical object with a computer system, the control input device comprising: a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user wherein said object receiving portion is moveable in at least two degrees of freedom with respect to a fixed surface; a transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement; and control electronics coupled to said transducer, said control electronics reporting a representation of said data received from said transducer to said computer system such that said computer system can update a graphical process in response to said data.
Claim 3
Dependent Claim
57 words
A control input device as recited in claim 1 , wherein said transducer is a first transducer which senses said linear displacement in a first degree of freedom, and further comprising second and third transducers sensing the motion of said object receiving portion in second and third degrees of freedom, respectively, with respect to said fixed surface.
Claim 4
Dependent Claim
78 words
A control input device as recited in claim 2 , wherein said second and third transducers output second and third data, respectively, indicative of said motion of said object receiving portion in said two degrees of freedom, wherein said control electronics reports a representation of said second and third data from said second and third transducers to said computer system such that said computer system can update a graphical process in response to said second and third data.
Claim 5
Dependent Claim
33 words
A control input device as recited in claim 1 wherein said transducer is an optical encoder that engages said elongated mechanical object via a roller in frictional contact with said elongated mechanical object.
Claim 6
Dependent Claim
18 words
A control input device as recited in claim 1 wherein said elongated mechanical object is a pool cue.
Claim 7
Dependent Claim
26 words
A control input device as recited in claim 5 wherein said pool cue is engaged by a frictional roller when disposed within said object receiving portion.
Claim 8
Dependent Claim
49 words
A control input device as recited in claim 6 wherein said frictional roller is coupled to said transducer such that when said pool cue is translated with respect to said object receiving portion, said transducer transduces the relative linear displacement between said pool cue and said object receiving portion.
Claim 9
Dependent Claim
46 words
A control input device as recited in claim 7 further comprising a button manipulatable by a user, said control electronics reporting the state of said button to said computer system such that said computer system can update a graphical process in response to said button state.
Claim 10
Dependent Claim
43 words
A control input device as recited in claim 7 wherein said transducer is a first transducer, and further comprising second and third transducers that sense motion of said object receiving portion in said two degrees of freedom with respect to said fixed surface.
Claim 11
Dependent Claim
35 words
A control input device as recited in claim 9 wherein said control electronics include a local processor coupled to said first, second, and third transducers and providing a representation of data to said computer system.
Claim 12
Dependent Claim
21 words
A control input device as recited in claim 7 wherein said graphical process is a simulation of a three dimensional environment.
Claim 13
Dependent Claim
175 words
A control input device for interfacing the motion of an elongated mechanical object with a computer system, the control input device comprising: a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user; a transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement; control electronics coupled to said transducer, said control electronics reporting a representation of said data received from said transducer to said computer system such that said computer system can update a graphical process in response to said data; and a button manipulatable by a user, said control electronics reporting a state of said button to said computer system such that said computer system can update a graphical process in response to said button state.
Claim 14
Dependent Claim
175 words
A control input device for interfacing the motion of an elongated mechanical object with a computer system, the control input device comprising: a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user; a transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement; control electronics coupled to said transducer, said control electronics reporting a representation of said data received from said transducer to said computer system such that said computer system can update a graphical process in response to said data; and a button manipulatable by a user, said control electronics reporting a state of said button to said computer system such that said computer system can update a graphical process in response to said button state.
Claim 15
Dependent Claim
160 words
A control input device for interfacing the motion of an elongated mechanical object with a computer system, the control input device comprising: a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user; a transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement; and control electronics coupled to said transducer, said control electronics reporting a representation of said data received from said transducer to said computer system such that said computer system can update a graphical process in response to said data, wherein said control electronics includes a local processor that receives said data and provides said data to said computer system.
Claim 16
Dependent Claim
160 words
A control input device for interfacing the motion of an elongated mechanical object with a computer system, the control input device comprising: a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user; a transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement; and control electronics coupled to said transducer, said control electronics reporting a representation of said data received from said transducer to said computer system such that said computer system can update a graphical process in response to said data, wherein said control electronics includes a local processor that receives said data and provides said data to said computer system.
Claim 17
Dependent Claim
16 words
A control input device as recited in claim 13 wherein said transducer is an optical encoder.
Claim 18
Dependent Claim
167 words
A control input device for interfacing the motion of an elongated mechanical object with a computer system, the control input device comprising: a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user; a first transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said first transducer senses linear displacement within said mechanical apparatus of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement, and further comprising a second transducer, said second transducer capable of outputting a force on said elongated mechanical object; and control electronics coupled to said first transducer, said control electronics reporting a representation of said data received from said first transducer to said computer system such that said computer system can update a graphical process in response to said data.
Claim 19
Dependent Claim
167 words
A control input device for interfacing the motion of an elongated mechanical object with a computer system, the control input device comprising: a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user; a first transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said first transducer senses linear displacement within said mechanical apparatus of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement, and further comprising a second transducer, said second transducer capable of outputting a force on said elongated mechanical object; and control electronics coupled to said first transducer, said control electronics reporting a representation of said data received from said first transducer to said computer system such that said computer system can update a graphical process in response to said data.
Claim 20
Dependent Claim
181 words
A control input device for interfacing the motion of an elongated mechanical object with a computer system, the control input device comprising: a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user; a first transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said first transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement, and further comprising a second transducer, said second transducer capable of outputting a force on said elongated mechanical object, wherein said second transducer is a passive brake outputting a frictional resistance force on said elongated mechanical object; and control electronics coupled to said first transducer, said control electronics reporting a representation of said data received from said first transducer to said computer system such that said computer system can update a graphical process in response to said data.
Claim 21
Dependent Claim
181 words
A control input device for interfacing the motion of an elongated mechanical object with a computer system, the control input device comprising: a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user; a first transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said first transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement, and further comprising a second transducer, said second transducer capable of outputting a force on said elongated mechanical object, wherein said second transducer is a passive brake outputting a frictional resistance force on said elongated mechanical object; and control electronics coupled to said first transducer, said control electronics reporting a representation of said data received from said first transducer to said computer system such that said computer system can update a graphical process in response to said data.
Claim 22
Dependent Claim
179 words
A control input device for interfacing the motion of an elongated mechanical object with a computer system, the control input device comprising: a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user; a first transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said first transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement, and further comprising a second transducer, said second transducer capable of outputting a force on said elongated mechanical object, wherein said second transducer is a servo motor outputting a force on said elongated mechanical object; and control electronics coupled to said first transducer, said control electronics reporting a representation of said data received from said first transducer to said computer system such that said computer system can update a graphical process in response to said data.
Claim 23
Dependent Claim
179 words
A control input device for interfacing the motion of an elongated mechanical object with a computer system, the control input device comprising: a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user; a first transducer coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said first transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement, and further comprising a second transducer, said second transducer capable of outputting a force on said elongated mechanical object, wherein said second transducer is a servo motor outputting a force on said elongated mechanical object; and control electronics coupled to said first transducer, said control electronics reporting a representation of said data received from said first transducer to said computer system such that said computer system can update a graphical process in response to said data.
Claim 24
Dependent Claim
28 words
A control input device as recited in claim 15 wherein said user inserts said elongated mechanical object into said object receiving portion to use said control input device.
Claim 25
Dependent Claim
31 words
A control input device as recited in claim 15 wherein said control electronics is coupled to said second transducer to control said outputting of said force on said elongated mechanical object.
Claim 26
Dependent Claim
233 words
An interface apparatus interfacing the motion of an elongated mechanical object with a computer system, the interface apparatus comprising: a mechanism including an object receiving portion, said object receiving portion shaped for receiving and engaging said elongated mechanical object physically contacted by and manipulated by a user, wherein said mechanism provides two degrees of freedom to said elongated mechanical object; a first degree of freedom transducer coupled to said mechanism and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement; a second degree of freedom transducer coupled to said mechanism and arranged to sense pivotal motion of said elongated mechanical object; an actuator coupled to said mechanism and outputting a force on said elongated mechanical object in said first degree of freedom; and an electronic interface coupled to said first degree of freedom transducer, to said second degree of freedom transducer, and to said actuator, said electronic interface reporting a representation of said data received from said transducers to said computer system such that said computer system can update a graphical process in response to said data, and said electronic interface providing electrical signals from said computer system to said actuator to control said force output by said actuator.
Claim 27
Dependent Claim
233 words
An interface apparatus interfacing the motion of an elongated mechanical object with a computer system, the interface apparatus comprising: a mechanism including an object receiving portion, said object receiving portion shaped for receiving and engaging said elongated mechanical object physically contacted by and manipulated by a user, wherein said mechanism provides two degrees of freedom to said elongated mechanical object; a first degree of freedom transducer coupled to said mechanism and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said transducer senses linear displacement of said elongated mechanical object with respect to said object receiving portion and outputs data indicative of said linear displacement; a second degree of freedom transducer coupled to said mechanism and arranged to sense pivotal motion of said elongated mechanical object; an actuator coupled to said mechanism and outputting a force on said elongated mechanical object in said first degree of freedom; and an electronic interface coupled to said first degree of freedom transducer, to said second degree of freedom transducer, and to said actuator, said electronic interface reporting a representation of said data received from said transducers to said computer system such that said computer system can update a graphical process in response to said data, and said electronic interface providing electrical signals from said computer system to said actuator to control said force output by said actuator.
Claim 28
Dependent Claim
76 words
An interface apparatus as recited in claim 20 wherein said mechanism includes a base portion rotatably coupled to said object receiving portion, wherein said base portion rotates about a first axis and said object receiving portion rotates around a second axis that is substantially perpendicular to said first axis, and wherein said elongated object defines a radius in a spherical coordinate system having an origin at an intersection of said first axis and said second axis.
Claim 29
Dependent Claim
36 words
An interface apparatus as recited in claim 20 further comprising a third degree of freedom transducer coupled to said mechanism and arranged to sense motion of said elongated mechanical object in a third degree of freedom.
Claim 30
Dependent Claim
36 words
An interface apparatus as recited in claim 22 further comprising a fourth degree of freedom transducer coupled to said mechanism and arranged to sense motion of said elongated mechanical object in a third degree of freedom.
Claim 31
Dependent Claim
82 words
An interface apparatus as recited in claim 20 wherein said first degree of freedom transducer and said actuator are coupled to a translation wheel having a translation wheel axis that is substantially perpendicular to an object axis along which said object displaces, said translation wheel contacting a surface of said elongated object when said elongated object is engaged with said object receiving portion such that a translation of said elongated object along said object axis causes a rotation of said translation wheel.
Claim 32
Dependent Claim
40 words
An interface apparatus as recited in claim 20 wherein said actuator is a first actuator, and further comprising a second actuator coupled to said mechanism and outputting a force on said elongated mechanical object in said second degree of freedom.
Claim 33
Dependent Claim
17 words
An interface apparatus as recited in claim 20 wherein said elongated mechanical object is a pool cue.
Claim 34
Independent Claim
146 words
A method for interfacing movements of an elongated mechanical object with a computer system, the method comprising: receiving and engaging said elongated mechanical object with an object receiving portion of a mechanism, said elongated mechanical object being physically contacted by and manipulated by a user; sensing linear displacement of said elongated mechanical object in a linear degree of freedom with a sensor with respect to said object receiving portion and outputting data indicative of said linear displacement when said elongated mechanical object is at least partially disposed within said object receiving portion, said data being received by said computer system such that said computer system can update a graphical process in response to said data; and outputting a force on said elongated mechanical object in said linear degree of freedom using an actuator, wherein said force is derived from a signal received from said computer system.
Claim 35
Independent Claim
146 words
A method for interfacing movements of an elongated mechanical object with a computer system, the method comprising: receiving and engaging said elongated mechanical object with an object receiving portion of a mechanism, said elongated mechanical object being physically contacted by and manipulated by a user; sensing linear displacement of said elongated mechanical object in a linear degree of freedom with a sensor with respect to said object receiving portion and outputting data indicative of said linear displacement when said elongated mechanical object is at least partially disposed within said object receiving portion, said data being received by said computer system such that said computer system can update a graphical process in response to said data; and outputting a force on said elongated mechanical object in said linear degree of freedom using an actuator, wherein said force is derived from a signal received from said computer system.
Claim 36
Dependent Claim
47 words
A method as recited in claim 27 wherein said sensor is a first sensor, and further comprising sensing rotational movement of said elongated mechanical object in a rotary degree of freedom using a second sensor, and outputting data indicative of said rotational movement to said computer system.
Claim 37
Dependent Claim
51 words
A method as recited in claim 28 wherein said actuator is a first actuator, and further comprising outputting a second force on said elongated mechanical object in said rotary degree of freedom using a second actuator, wherein said second force is derived from a second signal received from said computer system.
Claim 38
Dependent Claim
16 words
A method as recited in claim 27 wherein said elongated mechanical object is a pool cue.
Claim 39
Dependent Claim
143 words
A control input device for interfacing the motion of an elongated mechanical object with a computer system, the control input device comprising: a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user; a transducer system coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said transducer system senses the relative position of said elongated mechanical object with respect to said object receiving portion in at least two degrees of freedom; and control electronics coupled to said transducer system, said control electronics reporting a representation of data received from said transducer system to said computer system such that said computer system can update a graphical process in response to said data.
Claim 40
Dependent Claim
143 words
A control input device for interfacing the motion of an elongated mechanical object with a computer system, the control input device comprising: a mechanical apparatus including an object receiving portion, said object receiving portion shaped to receive and engage said elongated mechanical object held by and manipulated by a user; a transducer system coupled to said mechanical apparatus and arranged such that when said elongated mechanical object is at least partially disposed within said object receiving portion, said transducer system senses the relative position of said elongated mechanical object with respect to said object receiving portion in at least two degrees of freedom; and control electronics coupled to said transducer system, said control electronics reporting a representation of data received from said transducer system to said computer system such that said computer system can update a graphical process in response to said data.
Claim 41
Dependent Claim
38 words
A control input device as recited in claim 31 further comprising a transducer capable of outputting a force on said elongated mechanical object in response to data received from said transducer system in each sensed degree of freedom.
Claim 42
Dependent Claim
43 words
A control input device as recited in claim 32 wherein said transducer system comprises a first transducer to sense the relative linear position of said elongated mechanical object and a second transducer to sense the relative rotational position of said elongated mechanical object.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2004-11-26 | 2005-05-28 | 2005-11-27 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2008-11-26 | 2009-05-28 | 2009-11-27 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2012-11-26 | 2013-05-28 | 2013-11-27 | $7700.00 | Window Closed / Lapsed |