Abstract: Methods and systems for textures and other spatial sensations for a relative haptic interface device are described. One embodiment includes a method comprising the steps of receiving a signal from a sensor, the sensor signal associated with a change in a position of a haptic feedback device, transmitting sensor data to a host processor, the sensor data associated with the sensor signal, receiving force information from the host processor, the force information comprising a texture sensation having at least one parameter describing at least one force to be output based at least in part on an interaction of a graphical object with a texture field, the force information further comprising at least one characteristic of the texture sensation, parsing the force information, storing the at least one characteristic, and determining when to output the at least one force based at least in part on the interaction.

Abstract: Mechanisms for a control knob or other interface device providing additional degrees of freedom for the knob. One embodiment provides a rotatable knob moveable also in lateral plane approximately perpendicular to the axis of rotation. A mechanism providing the lateral motion can include agate member and a plunger member that engages grooves in the gate member. A rotational sensor detects a rotational position and a lateral sensor can detect a lateral position of the knob. Another embodiment provides an actuator that includes a shaft that is coaxial with the axis of rotation and which can be moved linearly along the axis of rotation with respect to actuator housing to accommodate linear motion of the knob. In another embodiment, a gear assembly including two interlocked gears is provided to transmit rotational motion from the knob to the sensor, and the interlocked gears translate with respect to each other when the knob is translate along the rotational axis.

Abstract: A robotic catheter system includes a controller with a master input device, and an instrument driver in communication with the controller, the instrument driver configured for independently controlling each of number of desired motions of a flexible, elongate guide instrument in a body of a patient in response to control signals generated by the controller, the desired motions selected from the group comprising axial advancement, axial retraction, axial rotation, and radial bending. Integrated haptics capability may be provided, in which one or more motors provide tactile feedback to an operator through the master input device.

Abstract: A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

Abstract: A method and apparatus for adjusting force output from force feedback devices based on user contact with the device. A degree of user contact with a manipulandum of the device is determined by examining the motion of the manipulandum in at least one degree of freedom. A force is output in the degree of freedom of the manipulandum by an actuator of the force feedback device, where a magnitude of the force is adjusted in accordance with the degree of user contact. The force output can be stopped if the user is not contacting the manipulandum, or the forces can be reduced in magnitude if the user has a light contact or reduced grip on the manipulandum. The device can also continue to monitor manipulandum motion to determine when the user is again interacting with the manipulandum and to reapply or increase the magnitude of the forces.

Abstract: Products and processes for providing tactile sensations to input devices or electronic devices are provided. Input devices include mechanical input devices (such as, for example, mechanical switches) and non-mechanical input devices (such as, for example, touchpads). Tactile feedback is provided by using an actuator or other means in communication with the input device or electronic device. A controller may be employed to receive signals from the input devices and control the actuator. Tactile feedback to an input device or electronic device may be provided in response to one or more events or situations. Such an event or situation may be any one designated. Examples of such events and situations include the level of pressure placed on an input device; the availability or lack of availability of a function associated with an input device; and the function, menu, or mode of operation associated with an input device's activation. A variety of feedback types and combinations may be selected.

Abstract: A hybrid haptic feedback system in which a host computer and haptic feedback device share processing loads to various degrees in the output of haptic sensations, and features for efficient output of haptic sensations in such a system. A haptic feedback interface device in communication with a host computer includes a device microcontroller outputting force values to the actuator to control output forces. In various embodiments, the microcontroller can determine force values for one type of force effect while receiving force values computed by the host computer for a different type of force effect. For example, the microcontroller can determine closed loop effect values and receive computed open loop effect values from the host; or the microcontroller can determine high frequency open loop effect values and receive low frequency open loop effect values from the host. Various features allow the host to efficiently stream computed force values to the device.

Abstract: A methods using a robotic catheter system to perform a procedure on a patient includes generating a control signal corresponding to movement of a master input device, and moving a plurality of drive elements of an instrument driver in response to the control signal, the drive elements operatively coupled to a corresponding plurality of control elements of an elongate guide instrument, the control elements secured to a distal end of the guide instrument and moveable axially relative to the guide instrument such that movement of the drive elements causes a corresponding movement of the guide instrument distal end.

Abstract: A control wheel for controlling at least one function of a system by a user includes a moveable engagement wheel for engagement by the user and an actuator coupled to the engagement wheel for providing force or haptic feedback to the engagement wheel in response to movement of the engagement wheel. A sensor for sensing movement of the engagement wheel is provided and a control system is coupled to the sensor for receiving information about positioning and movement of the engagement wheel, and is also coupled to the actuator for controlling force to the engagement wheel. The control system also provides control of the at least one function of the system.

Abstract: Medical devices and delivery systems for delivering medical devices to a target location within a subject. In some embodiments the medical devices can be locked in a fully deployed and locked configuration. In some embodiments the delivery systems are configured with a single actuator to control the movement of multiple components of the delivery system. In some embodiments the actuator controls the independent and dependent movement of multiple components of the delivery system.

Abstract: Products and processes for providing tactile sensations to input devices or electronic devices are provided. Input devices include mechanical input devices (such as, for example, mechanical switches) and non-mechanical input devices (such as, for example, touchpads). Tactile feedback is provided by using an actuator or other means in communication with the input device or electronic device. A controller may be employed to receive signals from the input devices and control the actuator. Tactile feedback to an input device or electronic device may be provided in response to one or more events or situations. Such an event or situation may be any one designated. Examples of such events and situations include the level of pressure placed on an input device; the availability or lack of availability of a function associated with an input device; and the function, menu, or mode of operation associated with an input device's activation. A variety of feedback types and combinations may be selected.

Abstract: The present invention comprises products and processes for providing haptic feedback at a location other than an input device. For example, when an input device disposed in a hand-held device is activated, instead of providing haptic feedback at the input device itself or to the entire device, haptic feedback is provided to a different area of the device (such as, for example, the side of the device opposite the side on which the input device resides).

Abstract: Medical devices and delivery systems for delivering medical devices to a target location within a subject. In some embodiments the medical devices can be locked in a fully deployed and locked configuration. In some embodiments the delivery systems are configured with a single actuator to control the movement of multiple components of the delivery system. In some embodiments the actuator controls the independent and dependent movement of multiple components of the delivery system.

Abstract: An interface device and method for providing enhanced cursor control with force feedback. A force feedback interface device includes a manipulandum, such as a mouse, that is moveable in a local workspace. The device is coupled to a host computer that displays a cursor in a graphical environment, such as a GUI, on a display screen. An interior region and a border region in the local workspace is defined. One mapping of device movement to cursor movement is used for the interior region, and a different mapping is used for the border region. Mapping methods include ballistics, absolute, linear, rate control, and variable absolute. Rate control embodiments can be single axis or dual axis. In one embodiment, when the mouse moves from the interior region to the border region, the mapping providing the greater cursor velocity is used to better conserve device workspace in the direction of travel and to decrease any sense of mapping mode change to the user.

Abstract: A hybrid haptic feedback system in which a host computer and haptic feedback device share processing loads to various degrees in the output of haptic sensations, and features for efficient output of haptic sensations in such a system. A haptic feedback interface device in communication with a host computer includes a device microcontroller outputting force values to the actuator to control output forces. In various embodiments, the microcontroller can determine force values for one type of force effect while receiving force values computed by the host computer for a different type of force effect. For example, the microcontroller can determine closed loop effect values and receive computed open loop effect values from the host; or the microcontroller can determine high frequency open loop effect values and receive low frequency open loop effect values from the host. Various features allow the host to efficiently stream computed force values to the device.

Abstract: Vibrotactile haptic feedback devices are disclosed. For example, in one embodiment, a device includes: a mass, an actuator configured to vibrate the mass, and a coupling disposed between the actuator and the mass or between the mass and a housing, the coupling having a first configuration with a compliance and a second configuration with a compliance, the compliance of the coupling in the first configuration being different from the compliance of the coupling in the second configuration, the actuator being configured to output haptic feedback associated with the first configuration of the coupling and haptic feedback associated with the second configuration of the coupling, the haptic feedback associated with the first configuration of the coupling being different from the haptic feedback associated with the second configuration of the coupling.

Abstract: Method and apparatus for controlling magnitude and frequency of vibrotactile sensations for haptic feedback devices. A haptic feedback device, such as a gamepad controller, mouse, remote control, etc., includes a housing, an actuator coupled to the housing, and a mass. In some embodiments, the mass can be oscillated by the actuator and a coupling between the actuator and the mass or between the mass and the housing has a variable compliance. Varying the compliance allows vibrotactile sensations having different magnitudes for a given drive signal to be output. In other embodiments, the actuator is a rotary actuator and the mass is an eccentric mass rotatable by the actuator about an axis of rotation. The eccentric mass has an eccentricity that can be varied relative to the axis of rotation while the mass is rotating. Varying the eccentricity allows vibrotactile sensations having different magnitudes for a given drive signal.

Abstract: Products and processes for providing haptic feedback are described. One such product includes a rocker switch and an actuator in communication with the rocker switch. The rocker switch is operable to output a first signal. The actuator is operable to provide haptic feedback associated with the first signal.

Abstract: The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to the knob to output a force in the rotary degree of freedom about the axis, thus providing force feedback. In a different embodiment, the knob is provided with force feedback in a rotary degree of freedom about an axis and is also moveable in a linear degree of freedom approximately parallel to the axis, allowing the knob to be pushed and/or pulled by the user. The device controlled by the knob can be a variety of types of devices, such as an audio device, video device, etc. The device can also include a display providing an image updated in response to manipulation of the knob.

Abstract: A hybrid haptic feedback system in which a host computer and haptic feedback device share processing loads to various degrees in the output of haptic sensations, and features for efficient output of haptic sensations in such a system. A haptic feedback interface device in communication with a host computer includes a device microcontroller outputting force values to the actuator to control output forces. In various embodiments, the microcontroller can determine force values for one type of force effect while receiving force values computed by the host computer for a different type of force effect. For example, the microcontroller can determine closed loop effect values and receive computed open loop effect values from the host; or the microcontroller can determine high frequency open loop effect values and receive low frequency open loop effect values from the host. Various features allow the host to efficiently stream computed force values to the device.