초록 ▼

A mechanical interface for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism includes multiple members that are pivotably coupled to each other to provide two revolute degrees of freedom to a user manipulatable about a pivot point located rem

A mechanical interface for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism includes multiple members that are pivotably coupled to each other to provide two revolute degrees of freedom to a user manipulatable about a pivot point located remotely from the members at about an intersection of the axes of rotation of the members. A linear axis member, coupled to the user object, is coupled to at least one of the members, extends through the remote pivot point and is movable in the two rotary degrees of freedom and a third linear degree of freedom. Transducers associated with the provided degrees of freedom include sensors and actuators and provide an electromechanical interface between the object and a computer. Capstan band drive mechanisms transmit forces between the transducers and the object and include a capstan and flat bands, where the flat bands transmit motion and force between the capstan and interface members. Applications include simulations of medical procedures, e.g. epidural anesthesia, where the user object is a needle or other medical instrument, or other types of simulations or games.

대표청구항 ▼

A mechanical interface for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism includes multiple members that are pivotably coupled to each other to provide two revolute degrees of freedom to a user manipulatable about a pivot point located rem

A mechanical interface for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism includes multiple members that are pivotably coupled to each other to provide two revolute degrees of freedom to a user manipulatable about a pivot point located remotely from the members at about an intersection of the axes of rotation of the members. A linear axis member, coupled to the user object, is coupled to at least one of the members, extends through the remote pivot point and is movable in the two rotary degrees of freedom and a third linear degree of freedom. Transducers associated with the provided degrees of freedom include sensors and actuators and provide an electromechanical interface between the object and a computer. Capstan band drive mechanisms transmit forces between the transducers and the object and include a capstan and flat bands, where the flat bands transmit motion and force between the capstan and interface members. Applications include simulations of medical procedures, e.g. epidural anesthesia, where the user object is a needle or other medical instrument, or other types of simulations or games. concurrently herewith. The cartridge assembly of claim 15 wherein a plate having a central aperture for receiving a stem of a piercing member is positioned within said centrally located mixing body proximate the rear end of the mixing body. 17. The cartridge assembly of claim 16 wherein said mixing cylinders include a plurality of circumferentially positioned mixing cylinders that are spaced from each other along a circumference of the mixing unit, and wherein one of said flow guiding channels on said rear inner surface extends radially from the centrally located mixing cylinder to a first of the circumferentially positioned mixing cylinders in the mixing path. 18. The cartridge assembly of claim 17 wherein one of said flow guiding channels on said front inner surface extends radially between a last of the circumferentially positioned mixing cylinders in the mixing path and the centrally located mixing cylinder. 19. The cartridge assembly of claim 18 wherein said first of the circumferentially positioned mixing cylinders in the mixing path is isolated from the last of the circumferentially positioned mixing cylinders in the mixing path in a direction opposite that of the mixing path. 20. A cartridge assembly for mixing components of a material, said cartridge assembly comprising a component carrying body having a front end and a rear end, a discharge nozzle proximate said front end and a mixing unit for mixing the components and delivering the mixed components to the discharge nozzle, said mixing unit comprising a plurality of spaced cylindrical mixing chambers and at least one mixing element positioned in at least one of the mixing chambers. 21. The cartridge assembly of claim 20 wherein said cylindrical mixing chambers define at least a portion of a mixing path that alternates its direction between the front end and a rear end of the mixing unit. 22. The cartridge assembly of claim 21 wherein said mixing path also extends around a circumference of the mixing unit. 23. The cartridge assembly of claim 21 wherein at least one of the cylindrical mixing chambers is in fluid communication with an adjacent upstream one of the cylindrical mixing chambers at a first end and an adjacent downstream one of the cylindrical mixing cylinders at a second end opposite said first end. 24. The cartridge assembly of claim 20 wherein the cylindrical mixing chambers each have a longitudinal axis that is substantially parallel to a longitudinal axis of the component carrying body. 25. The cartridge assembly of claim 20 wherein said component carrying body includes a first reservoir for holding a first of the components and a second reservoir for holding a second of the components, wherein said reservoirs are separated from each other within the carrying body. 26. The cartridge assembly of claim 25 further comprising a flow directing member having a first component opening for receiving the first component from the first reservoir and at least one second component opening for receiving the second component from the second reservoir. 27. The cartridge assembly of claim 20 wherein a front end of a first of the cylindrical mixing chambers is isolated from a front end of one of the cylindrical mixing chambers that is immediately upstream of said first cylindrical mixing chamber along a front end of the mixing unit, a rear end of the first cylindrical mixing chamber is open to a rear end of the immediately upstream cylindrical mixing chamber along a rear end of the mixing unit and a rear end of the first cylindrical mixing chamber is isolated from a rear end of another of the cylindrical mixing chambers that is immediately downstream of said first cylindrical mixing chamber along a rear end of the mixing unit. 28. The cartridge assembly of claim 20 wherein said mixing unit includes a front inner surface, a rear inner surface and a mixing body extending between said inner surfaces. 29. The cartridge assembly of claim 28 wherein said rear inner surface includes a plurality of f low guiding channels that extend away from said rear inner surface toward said mixing body, each said flow guiding channel being spaced from an adjacent one of the flow guiding channels along said rear inner surface. 30. The cartridge assembly of claim 29 wherein said front inner surface includes a plurality of flow guiding channels that extend away from said front inner surface toward said mixing body, each said flow guiding channel being spaced from an adjacent one of the flow guiding channels along said front inner surface. 31. The cartridge assembly of claim 29 wherein said cylindrical mixing chambers extend within said mixing body, and wherein said cylindrical mixing chambers and flow guiding channels on said inner surfaces define a mixing path. 32. The cartridge assembly of claim 31 wherein one of said cylindrical mixing chambers is centrally located within said mixing body and communicates with an inlet opening at the rear of said mixing body and a discharge opening at the front of said mixing body. 33. The cartridge assembly of claim 32 wherein said cylindrical mixing chambers further include a plurality of circumferentially positioned cylindrical mixing chambers that are spaced from each other along a circumference of the mixing unit, and wherein one of said flow guiding channels on said rear inner surface extends radially from the centrally located cylindrical mixing chamber to a first of the circumferentially positioned cylindrical mixing chambers in the mixing path. 34. The cartridge assembly of claim 33 wherein one of said flow guiding channels on said front inner surface extends radially between a last of the circumferentially positioned cylindrical mixing chambers in the mixing path and the centrally located cylindrical mixing chamber. 35. A cartridge assembly for mixing components of a material, said cartridge assembly comprising a component carrying body having a front end and a rear end and a mixing unit for mixing the components and delivering the mixed components to a discharge nozzle, said mixing unit comprising a mixing body including a mixing path that extends between a front end and a rear end of the mixing body, said mixing path having a first mixing region that is offset from a terminal mixing region in a direction that is opposite the direction of the mixing path. 36. The cartridge assembly of claim 35 wherein said mixing regions each include a mixing cylinder. 37. The cartridge assembly of claim 36 wherein said mixing path is at least partially defined by a plurality of said mixing cylinders and a plurality of guiding channels, each guiding channel extending between ends of adjacent mixing cylinders. 38. The cartridge assembly of claim 37 wherein a rear end of a first of the mixing cylinders is connected to a rear end of one of the mixing cylinders that is immediately upstream of said first mixing cylinder along said mixing path by one of the guiding channels, and a front end of the first mixing cylinder is connected to a front end of another of the mixing cylinders that is immediately downstream of said first mixing cylinder along said mixing path. 39. The cartridge assembly of claim 38 wherein the front end of the first of the mixing cylinders is isolated from a front end of the mixing cylinder that is immediately upstream of said first mixing cylinder along a front end of the mixing unit, and a rear end of the first mixing cylinder is isolated from a rear end of the another of the mixing cylinders that is immediately downstream of said first mixing cylinder along a rear end of the mixing unit. 40. The cartridge assembly of claim 37 wherein said mixing unit includes mixing housings, each mixing housing including a pair of the mixing cylinders, and wherein at one end of the mixing unit one of said guiding channels connects adjacent mixing cylinders of the same mixing housings, and at an opposite end of the mixing unit one of said guiding channels connects adjacent mixing channels of separate housin