User interface device for surgical simulation system
A user interface device for a surgical simulation system, comprising a rigid shaft pivotably supported by a frame, and movable in the axial direction but fixed with respect to rotation around its longitudinal axis, and a handle having a sensor body rigidly attached to said rigid shaft, and a grip portion rotatable around said longitudinal axis relative said sensor body. The handle further comprises a rotator sleeve rotatable around said longitudinal axis relative said sensor body and said grip portion, a rotation sensor adapted to detect rotation of said rotator sleeve in relation to said sensor body, and a signal interface mounted on said sensor body and connected to receive a first detection signal from said rotation sensor. Through this design, all sensor elements and electronic circuitry can be provided in or adjacent to the sensor body, leading to an efficient design and manufacturing.
1. A user interface device for a surgical simulation system, comprising:
a rigid shaft having a primary extension along a longitudinal axis, said rigid shaft being pivotably supported by a frame, and movable in relation to said frame in an axial direction, said rigid shaft being fixed in relation to said frame with respect to rotation around said longitudinal axis; and
a handle having a sensor body rigidly attached to said rigid shaft, and a grip portion rotatable around said longitudinal axis relative said sensor body, said grip portion being adapted to transform a gripping motion of a user into a linear displacement,
said handle further comprises:
a rotator sleeve rotatable around said longitudinal axis relative said sensor body and said grip portion,
a rotation sensor adapted to detect rotation of said rotator sleeve in relation to said sensor body, and
a signal interface mounted on said sensor body and connected to receive a first detection signal from said rotation sensor.
2. The user interface device of claim 1 , wherein said handle further comprises:
a linear sensor mounted in said sensor body,
a motion transfer arrangement for transferring any linear displacement generated in the grip portion to said linear sensor, and
said signal interface being connected to receive a second detection signal from said linear sensor.
3. The user interface according to claim 2 , wherein said motion transfer arrangement comprises a first elongated member arranged to be linearly displaced upon a gripping motion of a user, a rotatable disc and a second elongated member connected to said linear sensor,
a first mechanical connection connecting said first elongated member to a center portion of said disc, and a second mechanical connection connecting said second elongated member to a peripheral portion of said disc,
wherein said rotatable disc and said first and second elongated members are displaceable along said longitudinal axis, and
wherein said first and second mechanical connections are arranged to transfer only forces acting along the longitudinal axis.
4. The user interface according to claim 2 , wherein said motion transfer arrangement comprises a first elongated member arranged to be linearly displaced upon a gripping motion of a user, and a second elongated member connected to said linear sensor,
a mechanical connection connecting said first elongated member and said second elongated member,
wherein said first and second elongated members are displaceable along said longitudinal axis, and
wherein said mechanical connection is arranged to transfer only forces acting along the longitudinal axis.
5. The user interface according to claim 4 , wherein said rotation sensor has a central opening through which said second elongated member extends.
6. The user interface according to claim 1 , further comprising a plurality of actuators mounted on said frame and arranged to provide force feedback to a user rotating said handle in relation to said frame around two axis.
7. The user interface according to claim 6 , wherein an actuator arranged to provide force feedback around a first axis is mounted on a part of said frame that rotates with said handle around a second axis.
8. The user interface according to claim 1 , wherein said rigid shaft has a rack on one side, said rack engaging a gear wheel on said frame, thereby transforming a linear motion of said shaft into a rotation of said gear wheel.
9. The user interface according to claim 8 , further comprising an actuator connected to said gear wheel and arranged to provide force feedback to a user.
10. The user interface according to claim 1 , further comprising means for providing force feedback to a user rotating said sleeve.
11. A surgical simulation system, comprising:
a processing unit for executing simulation software for simulating a surgical procedure,
a display for displaying a visualization of the simulated procedure, and
a user interface device according to claim 1 , connected to said processing unit for allowing a user to interact with the computer simulation visualized in the display.