| US 7,460,104 B2 | ||
| Laparoscopic simulation interface | ||
| Louis B. Rosenberg, Pleasanton, Calif. (US) | ||
| Assigned to Immersion Corporation, San Jose, Calif. (US) | ||
| Filed on Jan. 26, 2005, as Appl. No. 11/41,992. | ||
| Application 11/041992 is a continuation of application No. 09/852401, filed on May 09, 2001, granted, now 7,023,423. | ||
| Application 09/852401 is a continuation of application No. 08/870956, filed on Jun. 06, 1997, granted, now 6,246,390. | ||
| Application 08/870956 is a continuation of application No. 08/374288, filed on Jan. 18, 1995, granted, now 5,731,804. | ||
| Prior Publication US 2005/0162383 A1, Jul. 28, 2005 | ||
| Int. Cl. G09G 5/00 (2006.01) | ||
| U.S. Cl. 345—156 [345/184] | 31 Claims |
| 1. An apparatus comprising:
a manipulandum configured as a surgical instrument;
a closed loop linkage system including a first central member fixedly coupled to a first object coupling and a second central
member fixedly coupled to a second object coupling, wherein the first and second object couplings are separately coupled to
the manipulandum to allow the manipulandum to be moveable in a plurality of rotary degrees of freedom and an axial degree
of freedom;
a force feedback system coupled to the linkage system, wherein the force feedback system selectively applies resistive forces
to the manipulandum based on the position of the manipulandum with respect to one or more reference coordinates.
|