Richard L Cunningham

Address:

2117 Cornell St, Columbus, OH 43219

VIN:

1D7HA18P97J555434

Make:

DODGE

Model:

RAM PICKUP 1500

Year:

2007

US Patent:

6470302, Oct 22, 2002

Filed:

Jan 28, 1999

Appl. No.:

09/238559

Inventors:

Richard L. Cunningham - Arlington VA
Philip Feldman - Baltimore MD
Ben Feldman - McLean VA
Gregory L. Merril - Chevy Chase MD

Assignee:

Immersion Medical, Inc. - Gaithersburg MD

International Classification:

G06G 748

US Classification:

703 7, 434262, 128897

Abstract:

An interface device and method for interfacing instruments to a vascular access simulation system serve to interface peripherals in the form of mock or actual medical instruments to the simulation system to enable simulation of medical procedures. The interface device includes a catheter unit assembly for receiving a catheter needle assembly, and a skin traction mechanism to simulate placing skin in traction or manipulating other anatomical sites for performing a medical procedure. The catheter needle assembly and skin traction mechanism are manipulated by a user during a medical procedure. The catheter unit assembly includes a base, a housing, a bearing assembly and a shaft that receives the catheter needle assembly. The bearing assembly enables translation of the catheter needle assembly, and includes bearings that enable the shaft to translate in accordance with manipulation of the catheter needle assembly. The shaft typically includes an encoder to measure translational motion of a needle of the catheter needle assembly, while the interface device further includes encoders to measure manipulation of the catheter needle assembly in various degrees of freedom (e. g.

US Patent:

6817973, Nov 16, 2004

Filed:

Mar 16, 2001

Appl. No.:

09/811358

Inventors:

Gregory L. Merril - Chevy Chase MD
Richard L. Cunningham - Washington DC
J. Michael Brown - Washington DC
Robert F. Cohen - Burtonsville MD
Philip G. Feldman - Catonsville MD

Assignee:

Immersion Medical, Inc. - San Jose CA

International Classification:

A61B 1018

US Classification:

600118, 600103, 600106, 600117

Abstract:

Apparatus and method for controlling force applied to and for manipulation of medical instruments. An elongated member of a medical instrument can be sensed, and an actuator can be used to apply force to the medical instrument for control and manipulation of the instrument. Via use of the applied forces, the instrument can be moved to a desired position in a working channel, haptic indications of position can be output to the user, and/or user control over the instrument can be enhanced.

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:

7289106, Oct 30, 2007

Filed:

May 17, 2004

Appl. No.:

10/846917

Inventors:

David Bailey - Redwood City CA, US
J. Michael Brown - Washington DC, US
Robert Cohen - Kensington MD, US
Richard L. Cunningham - Washington DC, US
Robert B. Falk - Takoma Park MD, US
Miguel A. Otaduy - Chapel Hill NC, US
Victor Wu - Boyds MD, US

Assignee:

Immersion Medical, Inc. - Gaithersburg MD

International Classification:

G09G 5/08

US Classification:

345158, 345156

Abstract:

An apparatus comprises a manipulandum, a housing, a sensor and an actuator. The housing has a palpation region spaced apart from the manipulandum. The sensor is coupled to the palpation region of the housing. The sensor is configured to send a signal based on a palpation of the palpation region of the housing. The actuator is coupled to the manipulandum. The actuator is configured to send haptic output to the manipulandum based on the signal.

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:

7308831, Dec 18, 2007

Filed:

Sep 9, 2002

Appl. No.:

10/238990

Inventors:

Richard L. Cunningham - Arlington VA, US
Philip Feldman - Baltimore MD, US
Ben Feldman - McLean VA, US
Gregory L. Merril - Chevy Chase MD, US

Assignee:

Immersion Medical, Inc. - Gaithersburg MD

International Classification:

G01N 3/24

US Classification:

73841

Abstract:

An interface device and method for interfacing instruments to a vascular access simulation system serve to interface peripherals in the form of mock or actual medical instruments to the simulation system to enable simulation of medical procedures. The interface device includes a catheter unit assembly for receiving a catheter needle assembly, and a skin traction mechanism to simulate placing skin in traction or manipulating other anatomical sites for performing a medical procedure. The catheter needle assembly and skin traction mechanism are manipulated by a user during a medical procedure. The catheter unit assembly includes a base, a housing, a bearing assembly and a shaft that receives the catheter needle assembly. The bearing assembly enables translation of the catheter needle assembly, and includes bearings that enable the shaft to translate in accordance with manipulation of the catheter needle assembly. The shaft typically includes an encoder to measure translational motion of a needle of the catheter needle assembly, while the interface device further includes encoders to measure manipulation of the catheter needle assembly in various degrees of freedom (e. g.

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.