[미국특허]
Systems and methods for real-time winding analysis for knot detection
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
A61B-018/00
G09B-023/28
D04G-005/00
G09B-019/00
출원번호
US-0031642
(2008-02-14)
등록번호
US-9486292
(2016-11-08)
발명자
/ 주소
Nelson, Donald Douglas
Ikits, Milan
Ho, Chih-Hao
Kunkler, Kevin
출원인 / 주소
Immersion Corporation
대리인 / 주소
Kilpatrick Townsend & Stockton LLP
인용정보
피인용 횟수 :
0인용 특허 :
227
초록▼
Embodiments of systems, methods, and computer-readable media for real-time winding analysis for knot detection are disclosed. For example, one embodiment of the present invention includes a method having the steps of receiving a first wrapping signal indicating a first wrapping of the simulated thre
Embodiments of systems, methods, and computer-readable media for real-time winding analysis for knot detection are disclosed. For example, one embodiment of the present invention includes a method having the steps of receiving a first wrapping signal indicating a first wrapping of the simulated thread around a second tool to create a first loop. The method further includes determining a first wrapping direction based at least in part on the first wrapping signal; receiving a first tightening signal indicating a pulling of a first end of the simulated thread through the first loop; determining a first half-hitch based at least in part on the first winding direction and the first tightening signal; and outputting the first half-hitch. In another embodiment, a computer-readable media includes code for a carrying out such a method.
대표청구항▼
1. A method, comprising: receiving, by a processor, a first wrapping signal from a sensor in communication with a tool, the tool comprising an actuator, the first wrapping signal indicating a first wrapping of a simulated thread around the tool to create a first loop;determining, by a processor, a w
1. A method, comprising: receiving, by a processor, a first wrapping signal from a sensor in communication with a tool, the tool comprising an actuator, the first wrapping signal indicating a first wrapping of a simulated thread around the tool to create a first loop;determining, by a processor, a wrap angle based at least in part on a plurality of normal vectors along a portion of the simulated thread, the plurality of normal vectors based at least in part on the wrapping signal;determining, by a processor, a first winding direction based at least in part on the wrap angle;receiving, by a processor, a first tightening signal indicating a pulling of a first end of the simulated thread through the first loop;determining, by a processor, a first half-hitch based at least in part on the first winding direction and the first tightening signal; andoutputting, by a processor, the first half-hitch and an actuator signal configured to cause the actuator to output a haptic effect. 2. The method of claim 1, further comprising: receiving a second wrapping signal indicating a second wrapping of the simulated thread around the tool to create a second loop;determining a second wrap angle based at least in part on a second plurality of normal vectors along a portion of the simulated thread, the second plurality of normal vectors based at least in part on the second wrapping signal;determining a second winding direction based at least in part on the second wrap angle;receiving a second tightening signal indicating a pulling of the first end of the simulated thread through the second loop;determining a second half-hitch based at least in part on the second winding direction and the second tightening signal;determining a knot type based at least in part on the first half-hitch and the second half-hitch; andoutputting the knot type. 3. The method of claim 2, further comprising: receiving a third wrapping signal indicating a third wrapping of the simulated thread around the tool to create a third loop;determining a third wrap angle based at least in part on a third plurality of normal vectors along a portion of the simulated thread, the third plurality of normal vectors based at least in part on the third wrapping signal;determining a third winding direction based at least in part on the third wrap angle;receiving a third tightening signal indicating a pulling of the first end of the simulated thread through the third loop;determining a third half-hitch based at least in part on the third winding direction and the third tightening signal; andwherein determining a knot type is further based at least in part on the third half-hitch. 4. The method of claim 1, wherein the tool comprises a second tool, and further comprising receiving a releasing signal indicating a releasing of the simulated thread by a first tool. 5. The method of claim 2, wherein the knot type comprises one of a granny knot, a square knot, or a surgeon's knot. 6. The method of claim 1, wherein the tool comprises a second tool, and further comprising transmitting an actuator signal to cause an actuator to output a haptic effect to a first tool or the second tool. 7. The method of claim 1, wherein the tool comprises a second tool, and further comprising receiving a grasping signal indicating a grasping of a simulated thread with a first tool. 8. A non-transitory computer-readable medium comprising program code configured to cause a processor to: receive a first wrapping signal from a sensor in communication with a tool, the tool comprising an actuator, the first wrapping signal configured to indicate a first wrapping of a simulated thread around the tool to create a first loop;determine, by a processor, a wrap angle based at least in part on a plurality of normal vectors along a portion of the simulated thread, the plurality of normal vectors based at least in part on the wrapping signaldetermine, by a processor, a first winding direction based at least in part on the wrap angle;receive a first tightening signal indicating a pulling of a first end of the simulated thread through the first loop;determine a first half-hitch based at least in part on the first winding direction and the first tightening signal; andoutput the first half-hitch and an actuator signal configured to cause the actuator to output a haptic effect. 9. The non-transitory computer-readable medium of claim 8, wherein the program code is further configured to cause the processor to: receive a second wrapping signal indicating a second wrapping of the simulated thread around the tool to create a second loop;determine a second wrap angle based at least in part on a second plurality of normal vectors along a portion of the simulated thread, the second plurality of normal vectors based at least in part on the second wrapping signal;determine a second winding direction based at least in part on the second wrap angle;receive a second tightening signal indicating a pulling of the first end of the simulated thread through the second loop;determine a second half-hitch based at least in part on the second winding direction and the second tightening signal;determine a knot type based at least in part on the first half-hitch and the second half-hitch; andoutput the knot type. 10. The non-transitory computer-readable medium of claim 8, wherein the tool comprises a second tool, and the program code is further configured to cause the processor to transmit an actuator signal to cause an actuator to output a haptic effect to a first tool or the second tool. 11. The non-transitory computer-readable medium of claim 8, wherein the tool comprises a second tool, and the program code is further configured to cause the processor to receive a grasping signal indicating a grasping of a simulated thread with a first tool. 12. A system, comprising: a first simulation tool comprising an actuator;a second simulation tool;a display; anda processor in communication with the first simulation tool, the second simulation tool, and the display, the processor configured to: receive a first wrapping signal from a sensor in communication with the first simulation tool;determine a wrap angle based at least in part on a plurality of normal vectors along a portion of the simulated thread, the plurality of normal vectors based at least in part on the wrapping signal;determine a first winding direction based at least in part on the wrap angle;receive a first tightening signal;determine a first half-hitch based at least in part on the first winding direction and the first tightening signal; andoutput the first half-hitch and an actuator signal configured to cause the actuator to output a haptic effect. 13. The system of claim 12, wherein the processor is further configured to: receive a second wrapping signal;determine a second wrap angle based at least in part on a second plurality of normal vectors along a portion of the simulated thread, the second plurality of normal vectors based at least in part on the second wrapping signal;determine a second winding direction based at least in part on the second wrap angle;receive a second tightening signal;determine a second half-hitch based at least in part on the second winding direction and the second tightening signal;determine a knot type based at least in part on the first half-hitch and the second half-hitch; andoutput the knot type. 14. The system of claim 12, wherein the first simulation tool comprises a first actuator,the second simulation tool comprises a second actuator, andthe processor is further configured to: output a first actuator signal to the first actuator to cause the first actuator to output a haptic effect to the first simulation tool, andoutput a second actuator signal to the second actuator to cause the second actuator to output a haptic effect to the second simulation tool. 15. The system of claim 12, wherein the processor is further configured to receive a grasping signal. 16. The method of claim 1, wherein the simulated thread is represented by a plurality of nodes, and determining the wrap angle comprises computing θ=∫Δθ=∑i∈Cθi-θi-1, for nodes i in contact set C, where each θi is the four quadrant arctangent evaluation of θi=tan−1(n·x/n·z), where n is the vector from the closest point on the second tool to node i, and x, z comprise the axes perpendicular to the longitudinal axis of the second tool. 17. The non-transitory computer-readable medium of claim 8, wherein the simulated thread is represented by a plurality of nodes, and wherein the program code is further configured to cause the processor to compute θ=∫Δθ=∑i∈Cθi-θi-1, for nodes i in contact set C, where each θi is the four quadrant arctangent evaluation of θi=tan−1(n·x/n·z). z), where n is the vector from the closest point on the second tool to node i, and x, z comprise the axes perpendicular to the longitudinal axis of the second tool to determine the wrap angle. 18. The system of claim 12, wherein the simulated thread is represented by a plurality of nodes, and wherein the processor is further configured to compute θ=∫Δθ=∑i∈Cθi-θi-1,for nodes i in contact set C, where each θi is the four quadrant arctangent evaluation of θi=tan−1(n·x/n·z), where n is the vector from the closest point on the second tool to node i, and x, z comprise the axes perpendicular to the longitudinal axis of the second tool to determine the wrap angle.
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