Patents by Inventor Richard L. Cunningham
Richard L. Cunningham has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 9336691Abstract: 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 16, 2009Date of Patent: May 10, 2016Assignee: Immersion CorporationInventors: Richard L. Cunningham, Robert Cohen
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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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Publication number: 20110148794Abstract: 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: ApplicationFiled: December 22, 2010Publication date: June 23, 2011Applicant: Immersion CorporationInventors: Richard L. Cunningham, Robert F. Cohen, Russell H. Dumas, Gregory L. Merril, Philip G. Feldman, Joseph L. Tasto
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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: 7833018Abstract: 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: November 16, 2010Assignee: Immersion CorporationInventors: David Alexander, J. Michael Brown, Eric Cabahug, Philip J. Churchill, Robert F. Cohen, Richard L. Cunningham, Ben Feldman
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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: 7815436Abstract: An interface device capable of communicating with a computer running a simulation program, such as a surgical simulation program, comprises an instrument capable of being manipulated by a user. The instrument is receivable within an orifice in an instrument receiving member, the instrument receiving member comprising a capture member engageable with the instrument and a sensor to sense a position of the instrument. The position of the instrument is then used by the computer to control a graphic image related to the simulation. In one version, the simulation is a simulation of a surgical instrument insertion procedure, such as an endoscopy procedure.Type: GrantFiled: December 15, 2000Date of Patent: October 19, 2010Assignee: Immersion CorporationInventors: Richard L. Cunningham, Robert F. Cohen, J. Michael Brown, Robert B. Falk
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Patent number: 7806696Abstract: 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: October 5, 2010Assignee: Immersion CorporationInventors: David Alexander, J. Michael Brown, Eric Cabahug, Philip J. Churchill, Robert F. Cohen, Richard L. Cunningham, Ben Feldman
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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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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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Patent number: 7308831Abstract: An interface device and method for interfacing instruments to a vascular access simulation system serve to interface peripherals in the form of mock or actual medical instruments to the simulation system to enable simulation of medical procedures. The interface device includes a catheter unit assembly for receiving a catheter needle assembly, and a skin traction mechanism to simulate placing skin in traction or manipulating other anatomical sites for performing a medical procedure. The catheter needle assembly and skin traction mechanism are manipulated by a user during a medical procedure. The catheter unit assembly includes a base, a housing, a bearing assembly and a shaft that receives the catheter needle assembly. The bearing assembly enables translation of the catheter needle assembly, and includes bearings that enable the shaft to translate in accordance with manipulation of the catheter needle assembly.Type: GrantFiled: September 9, 2002Date of Patent: December 18, 2007Assignee: Immersion Medical, Inc.Inventors: Richard L. Cunningham, Philip Feldman, Ben Feldman, Gregory L. Merril
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Patent number: 7307619Abstract: A palpation simulator comprises an interface for interfacing a user with a computer running a palpation simulation. The computer generates a graphical environment comprising a cursor and a graphical representation of at least a portion of a living body. In one version, a method comprises providing an object in communication with the computer, controlling the cursor 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 cursor 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: April 19, 2006Date of Patent: December 11, 2007Assignee: 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: 7289106Abstract: An apparatus comprises a manipulandum, a housing, a sensor and an actuator. The housing has a palpation region spaced apart from the manipulandum. The sensor is coupled to the palpation region of the housing. The sensor is configured to send a signal based on a palpation of the palpation region of the housing. The actuator is coupled to the manipulandum. The actuator is configured to send haptic output to the manipulandum based on the signal.Type: GrantFiled: May 17, 2004Date of Patent: October 30, 2007Assignee: Immersion Medical, Inc.Inventors: David Bailey, J. Michael Brown, Robert Cohen, Richard L. Cunningham, Robert B. Falk, Miguel A. Otaduy, Victor Wu
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Patent number: 7205981Abstract: A method and apparatus is described for applying haptic feedback using a vacuum source. A housing includes a cavity. The cavity can be positioned near a moveable member such that the cavity of the housing and the moveable member define a volume. The volume has an associated internal pressure. The internal pressure within the volume can be modified based on a received signal such that a resistive force is applied to the moveable member as the pressure is modified.Type: GrantFiled: March 18, 2004Date of Patent: April 17, 2007Assignee: Immersion CorporationInventor: Richard L. Cunningham
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Patent number: 7202851Abstract: A palpation simulator comprises an interface for interfacing a user with a computer running a palpation simulation. The computer generates a graphical environment comprising a cursor and a graphical representation of at least a portion of a living body. In one version, a method comprises providing an object in communication with the computer, controlling the cursor 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 cursor 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: May 4, 2001Date of Patent: April 10, 2007Assignee: 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: 6929481Abstract: 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: January 27, 1999Date of Patent: August 16, 2005Assignee: 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: 6817973Abstract: Apparatus and method for controlling force applied to and for manipulation of medical instruments. An elongated member of a medical instrument can be sensed, and an actuator can be used to apply force to the medical instrument for control and manipulation of the instrument. Via use of the applied forces, the instrument can be moved to a desired position in a working channel, haptic indications of position can be output to the user, and/or user control over the instrument can be enhanced.Type: GrantFiled: March 16, 2001Date of Patent: November 16, 2004Assignee: Immersion Medical, Inc.Inventors: Gregory L. Merril, Richard L. Cunningham, J. Michael Brown, Robert F. Cohen, Philip G. Feldman
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Publication number: 20040076940Abstract: 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: ApplicationFiled: September 9, 2003Publication date: April 22, 2004Applicant: Immersion Medical, Inc.Inventors: David Alexander, J. Michael Brown, Eric Cabahug, Philip J. Churchill, Robert F. Cohen, Richard L. Cunningham, Ben Feldman
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Publication number: 20040045561Abstract: 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: ApplicationFiled: September 9, 2003Publication date: March 11, 2004Applicant: Immersion Medical, Inc.Inventors: David Alexander, J. Michael Brown, Eric Cabahug, Philip J. Churchill, Robert F. Cohen, Richard L. Cunningham, Ben Feldman