Appeal No. 2006-1831
Application No. 09/755,383
question, we find the following facts:
1. At column 2, lines 1 through 25, Hannaford states that:
According to the invention, a direct-drive manipulator
enables precision manipulation and force display at a
control point. By using a pen-like or other end-
effector an operator applies forces to the control
point. The manipulator responds to the applied forces
allowing movement of the control point within a
workspace domain over three degrees of freedom. When
combined with a controller implementing a control
algorithm for a specific application environment, force
sensations are reflected back to the control point to
be experienced by the operator. Virtual reality,
telerobotic, and other simulated, real or remote
applications can be created to define a control
algorithm. For example, a control algorithm may define
immovable object shapes. An operator then is able to
trace the virtual object shapes and feel the object
boundaries. In another example, a control algorithm may
define tissue having shape, texture and force
resistance variables at different locations. An
operator then may perform a virtual reality surgery, in
which the control point is the cutting point of a
scalpel. Depending on the position of the control point
and force applied, the operator experiences the
sensation of cutting through the virtual tissue. In a
telerobotic application for remotely controlling a
robot, the control algorithm is defined as a reflection
of forces encountered by the robot.
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