Patents Assigned to Immersion Medical
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Patent number: 9881520Abstract: In the field of virtual reality, virtual tool manipulation systems and related methods and software are described in the present disclosure. One implementation of a virtual tool manipulation system, among others, comprises a motion tracking system configured to generate motion information related to the position of a part of a user's body. The virtual tool manipulation system also comprises a haptic feedback system configured to provide a haptic sensation to the user based on the motion information, the position of a virtual tool, and characteristics of the virtual tool.Type: GrantFiled: January 8, 2008Date of Patent: January 30, 2018Assignee: Immersion Medical, Inc.Inventors: Christopher J. Ullrich, Kevin J. Kunkler
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Patent number: 9679499Abstract: Systems and methods for sensing hand motion by measuring remote displacement are disclosed. For example, one disclosed apparatus includes a first surface configured to engage a first distal member of a surgical tool and a second surface configured to engage a second distal member of the surgical tool, the second surface coupled to the first surface at a pivot point. The apparatus further includes a sensor configured to detect a relative movement of the first surface and the second surface about the pivot point and to generate a signal based at least in part on the relative movement.Type: GrantFiled: September 15, 2008Date of Patent: June 13, 2017Assignee: Immersion Medical, Inc.Inventors: Robert F. Cohen, Mark S. Meents
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Patent number: 8639485Abstract: Systems and methods for modifying a medical model of a physical system is disclosed. One disclosed system includes a graphical user interface configured to display at least one parameter associated with the medical model and receive a modification of the at least one parameter. The system also includes a processor configured to receive the modification of the at least one parameter from the graphical user interface and execute a simulation of a part of the medical model including the modification of the at least one parameter.Type: GrantFiled: November 14, 2006Date of Patent: January 28, 2014Assignee: Immersion Medical, Inc.Inventors: Hugh Connacher, Robert B. Falk, Milan Ikits, Michael DiCuccio, Donald D. Nelson, Louai Adhami, Iyanka Ponnamperuma, Dhananjay Joshi, Lionel Grenier
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Patent number: 8638308Abstract: A method for interfacing a user with a computer running an application program, the computer generating a graphical environment comprising a graphical object and a graphical representation of at least a portion of a living body, comprises providing an object in communication with the computer, controlling the graphical object in relation to manipulation of at least a portion of the object by the user, and outputting a haptic sensation to the user when the graphical object interacts with a region within the graphical representation to provide the user with haptic feedback related to a simulated palpation of the region.Type: GrantFiled: December 22, 2010Date of Patent: January 28, 2014Assignee: Immersion Medical, Inc.Inventors: Richard L Cunningham, Robert F Cohen, Russell H Dumas, Gregory L Merril, Philip G Feldman, Joseph L Tasto
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Patent number: 8480406Abstract: An interface device and method for interfacing instruments to a medical procedure simulation system serve to interface peripherals in the form of mock medical instruments to the medical procedure simulation system computer to enable simulation of medical procedures. The interface device includes a housing having a mock bodily region of interest to facilitate insertion of a mock instrument, such as an endoscope tube, into the interface device. The mock bodily region of interest may be pivotable to simulate various patient orientations. The instrument is engaged by a capture mechanism in order to measure rotational and translational motion of the instrument. An actuator is disposed within the interface device to provide force feedback to the instrument. The measured motion is provided to the computer system to reflect instrument motion on the display during the simulation. Alternatively, the interface device may be configured to accommodate instrument assemblies having a plurality of nested instruments (e.g.Type: GrantFiled: August 15, 2005Date of Patent: July 9, 2013Assignee: Immersion Medical, Inc.Inventors: David Alexander, J. Michael Brown, Eric Cabahug, Philip J. Churchill, Robert F. Cohen, Richard L. Cunningham, Ben Feldman, Diego Fontayne, Gregory L. Merril, Mario Turchi
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Patent number: 8442806Abstract: Embodiments include storing values of a first plurality of nodes in memory based on tracking the position of a plurality of points of a physical object and maintaining a second plurality of nodes in memory, each node of the second plurality of nodes corresponding to a node of the first plurality. The values of the second plurality of nodes can be used to model interactions with other objects and to render a view of a simulated object. The simulation can access data identifying a simulation boundary and selectively update values of the second plurality of nodes using the first plurality of nodes while ensuring that the simulation boundary is not violated. A value of the second plurality of nodes can be set to be different from the value of the corresponding one of the first plurality of nodes if using the first node's value would violate the boundary.Type: GrantFiled: March 3, 2010Date of Patent: May 14, 2013Assignee: Immersion Medical, Inc.Inventors: Milan Ikits, Donald Douglas Nelson
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Patent number: 8244506Abstract: A method includes receiving data values associated with one of a position and orientation of a simulated scanner relative to an object. Image values are calculated, substantially in realtime, based on the data values. A simulated ultrasound image is rendered in a graphical display based on the image values. The simulated ultrasound image is representative of an interior or a simulated interior of the object on the ultrasound scan plane. Ultrasound simulation systems are also disclosed.Type: GrantFiled: November 15, 2010Date of Patent: August 14, 2012Assignee: Immersion Medical Inc.Inventors: Anton Butsev, Weimin Wu
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Patent number: 8167813Abstract: Systems and methods for locating a blood vessel are described. One described method includes receiving a first temperature measure associated with a first point on a surface of a skin; receiving a second temperature measure associated with a second point on the surface of the skin, and determining a differential between the first temperature measure and the second temperature measure. The method further includes generating an output signal indicating the presence of a blood vessel if the differential exceeds a threshold.Type: GrantFiled: May 17, 2007Date of Patent: May 1, 2012Assignee: Immersion Medical, Inc.Inventors: Robert F. Cohen, David M. Tumey
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Patent number: 8005659Abstract: A simulator for simulating a first object and a second object that is coupled to the first object is disclosed. The simulator models the first and second objects as a plurality of segments, with each segment having a plurality of nodes connected by one or more edges. The simulator then indexes each of the nodes and couples at least one node of the first object to a node of the second object. The indexing and coupling is based on the current simulated position of the first and second objects. The simulator then generates and solves a linear system of equations Ay=b from the indexing, and updates a position of each of the nodes. The simulator flow then dynamically re-indexes the nodes, and continues in a loop.Type: GrantFiled: July 6, 2007Date of Patent: August 23, 2011Assignee: Immersion Medical, Inc.Inventors: Donald Nelson, Milan Ikits
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Patent number: 7931470Abstract: An interface device and method for interfacing instruments to a medical procedure simulation system serve to interface peripherals in the form of mock medical instruments to the medical procedure simulation system computer to enable simulation of medical procedures. The interface device includes a housing having a mock bodily region of interest to facilitate insertion of a mock instrument, such as an endoscope tube, into the interface device. The mock bodily region of interest may be pivotable to simulate various patient orientations. The instrument is engaged by a capture mechanism in order to measure rotational and translational motion of the instrument. An actuator is disposed within the interface device to provide force feedback to the instrument. The measured motion is provided to the computer system to reflect instrument motion on the display during the simulation. Alternatively, the interface device may be configured to accommodate instrument assemblies having a plurality of nested instruments (e.g.Type: GrantFiled: September 9, 2003Date of Patent: April 26, 2011Assignee: Immersion Medical, Inc.Inventors: David Alexander, J. Michael Brown, Eric Cabahug, Philip J. Churchill, Robert F. Cohen, Ben Feldman, Gregory L. Merril
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Patent number: 7864164Abstract: A method for interfacing a user with a computer running an application program, the computer generating a graphical environment comprising a graphical object and a graphical representation of at least a portion of a living body, comprises providing an object in communication with the computer, controlling the graphical object in relation to manipulation of at least a portion of the object by the user, and outputting a haptic sensation to the user when the graphical object interacts with a region within the graphical representation to provide the user with haptic feedback related to a simulated palpation of the region.Type: GrantFiled: September 18, 2007Date of Patent: January 4, 2011Assignee: Immersion Medical, Inc.Inventors: Richard L. Cunningham, Robert F. Cohen, Russell H. Dumas, Gregory L. Merril, Philip G. Feldman, Joseph L. Tasto
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Patent number: 7835892Abstract: A method includes receiving data values associated with one of a position and orientation of a simulated scanner relative to an object. Image values are calculated, substantially in real-time, based on the data values. A simulated ultrasound image is rendered in a graphical display based on the image values. The simulated ultrasound image is representative of an interior or a simulated interior of the object on the ultrasound scan plane.Type: GrantFiled: September 28, 2004Date of Patent: November 16, 2010Assignee: Immersion Medical, Inc.Inventors: Anton Butsev, Weimin Wu
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Patent number: 7819799Abstract: Apparatus for controlling force applied to and for manipulation of a surgical instrument. Movement and/or forces applied to the surgical instrument are preferably sensed within the apparatus. An actuator is preferably used to apply force to the surgical instrument for control and manipulation of the instrument. The apparatus applies variable force feedback to apply force to the surgical instrument in one or more degrees of freedom to provide an enhanced haptic experience to the user.Type: GrantFiled: October 27, 2005Date of Patent: October 26, 2010Assignee: Immersion Medical, Inc.Inventors: Gregory L. Merril, Richard L. Cunningham, J. Michael Brown, Robert F. Cohen, Philip G. Feldman
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Patent number: 7706000Abstract: A laparoscopy simulator includes two rods and an orientation sensor that determines the orientation of the rods. An optical sensor is used to determine measurements of each rod based on the rotation of the rod around a central axis of the rod and a sliding of the rod along the central axis. An accelerometer is used to determine additional measurements of each rod based on a rotation of the rod around two additional rotation axes of the simulator. The measurements are used to determine the overall orientation of the rods.Type: GrantFiled: July 18, 2007Date of Patent: April 27, 2010Assignee: Immersion Medical, Inc.Inventors: Rob Cohen, Tianning Xu
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Publication number: 20100069941Abstract: Systems and methods for sensing hand motion by measuring remote displacement are disclosed. For example, one disclosed apparatus includes a first surface configured to engage a first distal member of a surgical tool and a second surface configured to engage a second distal member of the surgical tool, the second surface coupled to the first surface at a pivot point. The apparatus further includes a sensor configured to detect a relative movement of the first surface and the second surface about the pivot point and to generate a signal based at least in part on the relative movement.Type: ApplicationFiled: September 15, 2008Publication date: March 18, 2010Applicant: Immersion MedicalInventors: Robert F. Cohen, Mark S. Meents
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Publication number: 20090263775Abstract: A surgical simulation and training platform can mimic human physiology to the extent possible, while enabling dynamic pathology and complication introduction to facilitate training and evaluation needs. The platform can include a subject body having an outer surface and defining at least one cavity, with a capture mechanism configured to receive an instrument and mounted to a robotic positioning assembly within the cavity. The system can further include one or more sensors configured to determine the position of at least one instrument or provide data for determining the position, and a processor. The processor can receive data indicating a position of at least one instrument relative to the cavity in a subject body and provide a command to the robotic positioning assembly to adjust the position of the capture mechanism to encounter and engage the instrument during surgical simulation.Type: ApplicationFiled: April 22, 2009Publication date: October 22, 2009Applicant: Immersion MedicalInventor: Christopher J. Ullrich
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Publication number: 20090181350Abstract: A device is disclosed that includes an interface member including a material and a manipulandum movable in a degree of freedom. The manipulandum is able to penetrate the material. A sensor is configured to output a position signal based on the position of the manipulandum. An actuator is configured to output haptic feedback by applying a compressive force to the material based on the position signal. In other embodiments, a method is disclosed that includes receiving a position signal associated with a position of a manipulandum, where at least a portion of the manipulandum penetrates the interface material. Haptic feedback is output by varying a density of the interface material based on the position signal.Type: ApplicationFiled: March 16, 2009Publication date: July 16, 2009Applicant: Immersion Medical, Inc.Inventors: Richard L. Cunningham, Robert Cohen
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Publication number: 20090177452Abstract: In the field of virtual reality, virtual tool manipulation systems and related methods and software are described in the present disclosure. One implementation of a virtual tool manipulation system, among others, comprises a motion tracking system configured to generate motion information related to the position of a part of a user's body. The virtual tool manipulation system also comprises a haptic feedback system configured to provide a haptic sensation to the user based on the motion information, the position of a virtual tool, and characteristics of the virtual tool.Type: ApplicationFiled: January 8, 2008Publication date: July 9, 2009Applicant: Immersion Medical, Inc.Inventors: Christopher J. Ullrich, Kevin J. Kunkler
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Patent number: 7505030Abstract: A device is disclosed that includes an interface member including a material and a manipulandum movable in a degree of freedom. The manipulandum is able to penetrate the material. A sensor is configured to output a position signal based on the position of the manipulandum. An actuator is configured to output haptic feedback by applying a compressive force to the material based on the position signal. In other embodiments, a method is disclosed that includes receiving a position signal associated with a position of a manipulandum, where at least a portion of the manipulandum penetrates the interface material. Haptic feedback is output by varying a density of the interface material based on the position signal.Type: GrantFiled: March 18, 2004Date of Patent: March 17, 2009Assignee: Immersion Medical, Inc.Inventors: Richard L. Cunningham, Robert Cohen
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Publication number: 20090053683Abstract: A simulator includes a motor and a flexible member coupled to the motor. The simulator further includes a processor that is coupled to the motor and controls the motor to vary the tension of the flexible member.Type: ApplicationFiled: August 24, 2007Publication date: February 26, 2009Applicant: Immersion Medical, Inc.Inventors: J. Michael Brown, Robert F. Cohen