Richard K Cunningham

US Patent:

7202851, Apr 10, 2007

Filed:

May 4, 2001

Appl. No.:

09/848966

Inventors:

Richard L. Cunningham - Washington DC, US
Robert F. Cohen - Burtonsville MD, US
Russell H. Dumas - Germantown MD, US
Gregory L. Merril - Chevy Chase MD, US
Philip G. Feldman - Catonsville MD, US
Joseph L. Tasto - Brookeville MD, US

Assignee:

Immersion Medical Inc. - Gaithersburg MD

International Classification:

G09G 5/00

US Classification:

345156, 345163

Abstract:

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.

US Patent:

7205981, Apr 17, 2007

Filed:

Mar 18, 2004

Appl. No.:

10/803097

Inventors:

Richard L. Cunningham - Washington DC, US

Assignee:

Immersion Corporation - San Jose CA

International Classification:

G09G 5/08

US Classification:

345163, 345167, 715701

Abstract:

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.

US Patent:

7307619, Dec 11, 2007

Filed:

Apr 19, 2006

Appl. No.:

11/407662

Inventors:

Richard L. Cunningham - Washington DC, US
Robert F. Cohen - Kensington MD, US
Russell H. Dumas - Germantown MD, US
Gregory L. Merril - Chevy Chase MD, US
Philip G. Feldman - Catonsville MD, US
Joseph L. Tasto - Brookeville MD, US

Assignee:

Immersion Medical, Inc. - Gaithersburg MD

International Classification:

G09G 5/08

US Classification:

345163, 345158

Abstract:

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.

US Patent:

7505030, Mar 17, 2009

Filed:

Mar 18, 2004

Appl. No.:

10/803080

Inventors:

Richard L. Cunningham - Washington DC, US
Robert Cohen - Kensington MD, US

Assignee:

Immersion Medical, Inc. - Gaithersburg MD

International Classification:

G09G 5/00

US Classification:

345156, 434262

Abstract:

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.

US Patent:

7815436, Oct 19, 2010

Filed:

Dec 15, 2000

Appl. No.:

09/738424

Inventors:

Richard L. Cunningham - Washington DC, US
Robert F. Cohen - Burtonsville MD, US
J. Michael Brown - Washington DC, US
Robert B. Falk - Takoma Park MD, US

Assignee:

Immersion Corporation - San Jose CA

International Classification:

G09B 23/28

US Classification:

434262, 345158

Abstract:

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.

US Patent:

7864164, Jan 4, 2011

Filed:

Sep 18, 2007

Appl. No.:

11/901760

Inventors:

Richard L. Cunningham - Washington DC, US
Robert F. Cohen - Kensington MD, US
Russell H. Dumas - Germantown MD, US
Gregory L. Merril - Chevy Chase MD, US
Philip G. Feldman - Catonsville MD, US
Joseph L. Tasto - Brookeville MD, US

Assignee:

Immersion Medical, Inc. - Gaithersburg MD

International Classification:

G06F 3/041

US Classification:

345173, 345156

Abstract:

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.

US Patent:

8638308, Jan 28, 2014

Filed:

Dec 22, 2010

Appl. No.:

12/976640

Inventors:

Richard L Cunningham - Washington DC, US
Robert F Cohen - Kensington MD, US
Russell H Dumas - Germantown MD, US
Gregory L Merril - Chevy Chase MD, US
Philip G Feldman - Catonsville MD, US
Joseph L Tasto - Brookeville MD, US

Assignee:

Immersion Medical, Inc. - Baltimore MD

International Classification:

G06F 3/041

US Classification:

345173, 345156

Abstract:

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.

US Patent:

20090181350, Jul 16, 2009

Filed:

Mar 16, 2009

Appl. No.:

12/405052

Inventors:

Richard L. Cunningham - Washington DC, US
Robert Cohen - Kensington MD, US

Assignee:

Immersion Medical, Inc. - Gaithersburg MD

International Classification:

G09B 23/28

US Classification:

434262

Abstract:

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.