The present disclosure relates to improvements in or relating to haptic feedback devices, and in particular to haptic feedback devices suitable for use in simulation and/or training environments for various purposes.

This present disclosure pertains to computerised simulation systems which use haptic devices to provide force feedback to a user via end effectors attached to the haptic device. The figures show a known haptic feedback device arrangement. The user works within a 2D or 3D environment generally with special 3D glasses, with a screen or projected images, a virtual reality (VR) headset or just a 3D screen with no glasses

requirement, viewing objects projected in 2D or 3D via a computer simulation and using haptic devices to interact with virtual objects in real- time. The purpose of the virtual reality experience may be to experience training, to increase or enhance an existing skill set, to trial or to sample new experiences or to take part in a gaming experience amongst other things. The computer simulation includes a dataset of spatial coordinates representing the position in space of the virtual object and the haptic device returns its own co-ordinates allowing the simulation software to instruct the haptic device with regard to the amount of feedback to output given the colocation co-ordinates of the virtual 3D objects and the end effectors attached to the haptic device. Effective end effectors can enhance the simulation experience and in the situation where these are being used for training they can provide detailed performance reporting which can be key for training in hazardous or delicate procedures. A haptic device comprises a force feedback generator. The end effector held by the user is arranged to transmit forces created by the force feedback generator, either through direct attachment to the force feedback generator or by attachment to another connected component or part of the haptic device. Each haptic device has its own method of attaching end effectors. One example is the use of a jack plug, an example of which is provided for on the SensAble® OMNI® haptic device. A computer runs a simulation model and the user moves the end effector to simulate actions on a virtual image, which may or may not be projected into a virtual space. The force feedback generators receive instructions from the computer and feedback from the positions of the end effectors to generate haptic force feedback for the simulation of actions on the virtual model.

Existing haptic devices have a means of allowing the user to interact with the device (including basic software) and to hold the end effector in some way to manipulate the device in space while providing force

feedback/haptic feedback to the user in so doing. Some offer the ability to exchange the end effectors (user point of contact) provided for a custom made end effector. Some provide additional means of sending information back to the calling program via the set of one or more simple switches provided by the haptic device itself giving a yes/no or on/off type of feedback. This is very limited though and does not lend itself to the differing situations which are required to simulate reality. Additionally, when end effectors are exchanged, the user has to follow a process where they attach the end effector to the device and then select the end effector using an accompanying software program in order for the simulation to be able to recognise and adapt to the new end effector. This has to be repeated each and every time an end effector is attached to the system. This limits the ability of the simulation being carried out to mimic reality effectively because the user has to stop at intervals to change end effectors within the software as well as on the device which detracts from the overall virtual experience. This also means it is possible for a user to connect one end effector to the device but specify a totally different end effector in the simulation program rendering any output from the program useless.

However, for different types of procedure or use to be simulated, different bespoke systems currently have to be supplied. Each simulator requires its own unique set of hardware (haptic devices and/or end effectors) and software (bespoke simulation program), which inevitably makes simulation very expensive, there is a greater learning curve because of the differences in each system, and the costs involved mount quickly. These costs and practical difficulties limit the uptake of simulation for training despite the benefits simulation can bring.

According to a first aspect of the disclosure, there is provided a simulation system comprising: a haptic device comprising a force feedback generator; an end effector coupled to the haptic feedback device; display means for displaying an image of an object; processing means for receiving positional information from the haptic device or the end effector, comparing said positional information with a virtual position of the displayed image and sending control signals to said force feedback generator depending on said comparison; wherein said end effector comprises an adapter part and a tool part, said tool part for being held by a user; and wherein said adapter part provides a universal interface for use with a plurality of different tool parts.

Optionally, the tool part comprises an identification enumerator. Alternatively, the identification enumerator comprises a USB enumerator.

Optionally, a data bus is provided between the tool part and the

processing means for transmission of tool positional/operational data.

Optionally, said positional/operational data comprises absolute spatial position in an orthogonal vector set of the end effector; and/or rotational position of a moving part of the end effector. Optionally, said positional/operational data comprises the positioning of multiple switches at any given point or points in time or the connection of one or more other objects to the end effector.

Optionally, the processing means selects and displays a virtual object based on the identity of the tool provided by the identification enumerator.

Optionally, said system comprises a magnet which provides a field that attracts a connected haptic device and end effector to each other. Optionally, the strength of the field provided by the magnet is selected such that a force required to separate the haptic device and the end effector is equal to or less than a force threshold that represents normal use of the tool part. Optionally, the adapter part comprises a male end effector adapter and a female end effector body which attaches to said male end effector adaptor which in turn attaches to the haptic device.

Optionally, in use, the male end effector body remains constantly attached to the haptic device. According to a second aspect of the disclosure there is provided an adapter formed as part of an end effector for use with a haptic device; wherein said adapter part provides a universal interface for use with a plurality of different tool parts.

Optionally, the adapter comprises means for receiving an identification enumeration signal from a tool part and for transmitting and/or receiving tool positional/operational data to and/or from a processing means.

Optionally, said means for receiving an identification enumeration signal comprises a printed circuit board (PCB) comprising circuitry and

input/output means for processing information from USB, RFID or other communication standards.

Optionally, the adapter part comprises a male end effector adapter and a female end effector body which attaches to said male end effector adaptor which in turn attaches to the haptic device. Optionally, in use, the male end effector body remains constantly attached to the haptic device.

According to a third aspect of the present disclosure there is provided a computer program product that, when run on a computer, causes said computer to function as the processing means of the first aspect.

The computer program product may be stored on or transmitted over as one or more instructions or code on a computer-readable medium.

Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media. The instructions or code associated with a computer-readable medium of the computer program product may be executed by a computer, e.g., by one or more processors, such as one or more digital signal processors (DSPs), general purpose microprocessors, ASICs, FPGAs, or other equivalent integrated or discrete logic circuitry. According to a fourth aspect of the present invention there is provided a method of simulating the use of a tool part, comprising connecting a tool part to an adapter part of an end effector of a haptic device; displaying an image of an object; receiving, at a processing means, positional

information from the haptic device or the end effector; comparing said positional information with a virtual position of the displayed image; and sending control signals to the haptic device depending on said

comparison; said adapter part provides a universal interface for use with a plurality of different tool parts. Optionally, the tool part performs an identification enumeration upon connection to the end effector.

Alternatively, the identification enumeration is carried out according to the USB standard.

Optionally, tool positional/operational data is transmitted between the tool part and the processing means.

Optionally, said positional/operational data comprises absolute spatial position in an orthogonal vector set of the end effector; and/or rotational position of a moving part of the end effector.

Optionally, said positional/operational data comprises the positioning of multiple switches at any given point or points in time or the connection of one or more other objects to the end effector.

Optionally, the processing means selects and displays a virtual object based on the identity of the tool provided by the identification enumerator. The invention will now be described, by way of example only, with reference to the attached drawings. It is to be understood that the generality of the drawings does not supersede the generality of the preceding description of the invention. Figure 1 is an illustration of two known haptic devices; Figure 2 is an illustration of one embodiment of an adaptor; Figure 3 is an illustration of one embodiment of an interface board;

Figure 4 is an illustration of one embodiment of a female part of an end effector;

Figure 5 is an illustration of one embodiment of a linear sensing end effector;

Figure 6 is an illustration of one embodiment of a rotary sensing end effector; Figure 7 is an illustration of one embodiment of two end effectors attached to two adaptors; and

Figure 8 shows a simulation system. Figure 8 shows an example training system. One or more haptic devices 94, 98 are provided, which comprise force feedback generators. Each haptic device 94, 98 is provided with an end effector 104, 106, which is held by a user. A screen 92, 102 is provided and a virtual image is displayed in an object space in which the end effectors also reside. The virtual image defines a set of coordinates in object space, which provide the basis for the provision of haptic feedback based on detection of the position of the end effectors 104, 106, and comparison of that position with that of the virtual position. A computer 100 is provided, which runs a special simulation software program that defines the virtual image and provides control signals and image data to the projector for its display, processes positional information from the end effectors, and provides control signals to the force feedback generators. The simulation program may also gather and log performance statistics based on the use of the system.

Known haptic devices with detachable end effectors provide either a basic end effector together with a number of mechanisms such as buttons or sliders to send an on/off type response to the calling program. The end effector plays the part of a tool in the workspace such as a medical instrument, drill, etc. However systems of this type are somewhat limited in scope, for example:

There is no way of recognising which end effector is attached to the device if more than one is available

The only information sent back to the calling program regarding the operation of the end effectors is in the form of simple bistable outputs, in the form of yes/no or on/off signals. There is no means of sending any more complex information back to the calling program.

Often the method of attachment is very weak or tricky to use which means that recurrent fixing and unfixing of the end effectors could damage the haptic device or the end effectors resulting in a non- functional system.

Because of the limitation in sending back complex information it is very difficult to mimic accurately the actions of some tools in a virtual environment. So for instance the opening and closing of scissors whilst being physically performed by a scissor-type end effector will not be reflected accurately in the virtual environment as there is no way to send back the complex positioning of the scissors but simply a yes/no or on/off response, that is, simply being able to identify the scissors as being "open" or "closed" based on the operation of a switch button.

Because of the limitations in the information that can be passed from the end effector to the simulation software the system is limited in the amount of performance measurement that it can make. The only way around this at present is for the user to use other methods of signifying actions to the software such as a key press on a computer keyboard. This is not only unrealistic but it detracts from the sense of virtual reality that the system is producing and lessens the effectiveness, immersive nature and enjoyment of the learning experience.

Existing end effectors used for laproscopic training simulations are unsuited to the 'see here, touch here' situation as they are used in a 'see there, touch here' scenario and cannot be automatically recognised by the system

• Simulation systems tend towards being bespoke systems that

accommodate single simulation installations with costly tools.

At the moment it is possible to have a haptic device such as a SensAble® OMNI® device or a Novint FALCON® device, each of which are provided with replaceable end effectors. These end effectors are designed to allow the user to interact via a sense of feel and touch with objects presented to the user in a virtual space. This space may be in 2D, 3D and in a standalone simulator, a multiple hardware simulator or indeed a cave automatic virtual environment (CAVE) to give several of the possible situations that end effectors may be used in.

Quite often these tools are used in a fully immersive environment where the end effectors being used in the simulation are not seen directly by the user but hidden from view beneath, behind or to the side of the actual simulation taking place. The user views instead a graphical representation of the tools they are holding. It is often necessary to ensure that the tool being held feels like the tool being portrayed visibly in the screen although it may not necessarily look identical. It must be sufficient for the user to 'feel' that it is the same. On some occasions the user will see the end effectors, this is generally when the simulation is not using co-location or is perhaps in a CAVE or such other situation and then it may be that the end effectors have to both 'feel' and 'look' like the devices that they mimic (Co-location refers to a situation in a simulator where what the user is doing corresponds exactly to what they are feeling, giving a 'what you see is what you feel' sensation. In direct contrast to this the user may also be in a 'look here, feel here situation' where the haptic feedback is in one direction and the visuals are in another).

These haptic devices are designed to be used across many disciplines such as medical, clinical, dentistry, underground drilling, pipe laying undersea, pipe laying underground, nuclear decommissioning, flight simulation, product design and art design to name but a few.

The existing end effectors in question are limited in their versatility. They have one particular design and have limited interactive ability in

programming terms. Generally/currently this interactive ability comes in the form of buttons which give back an on/off response to the program utilising the device. This can be severely limiting when more complex feedback is required. While they can be replaced with a custom made end effector, these too are limited by the devices' ability to send back only the same on/off capabilities to the calling program. Often the mechanism for loading the end effectors onto the device is far from strong, bringing in a further weakness when confronted with end users of a simulation system of which the end effectors make a part and who may not value the device as they did not pay for it initially. For system providers this can be a real issue as the simulators have to be as robust as possible, to lessen the amount of support calls and customer support issues. It is also an issue if the system providers are trying to produce a simulator that a corporation feels they can invest in and rely on. Another problem with these existing end effectors is the fact that they are basically dumb, they have no ability to be recognised by the device and so further programming is required and further interaction by the user is needed in order for the user to see a graphical representation of the tool they have attached in the 3D environment. In a training scenario this detracts from the task and adds in complexity that is outside of the task in question. Given that the whole idea of simulation is to 'simulate reality' this issue limits the ability of the simulation to fulfill its objectives.

This disclosure seeks to build on the current weaknesses of existing haptic device systems and end effector designs; namely:

Lack of ability of the system to recognise which end effector is currently attached addressed. This is to be addressed according to the present disclosure by automatic recognition of the end effector by the system. • Restrictions in simulating every day working because of the simple on/off feedback that is available. This is to be addressed according to the present disclosure by allowing complex feedback of one or more multiple movements, from pressing switches, to linear or rotary movement and the identification of extra attachments.

Restrictions in measuring performance because of the simple on/off feedback that is available. This is to be addressed according to the present disclosure by the more complex feedback mechanisms in place.

Restrictions in simulation of reality of everyday tasks by adding in the need to register end effectors in the program whilst completing tasks. This is to be addressed according to the present disclosure by the automatic recognition of end effectors in the system.

The issues of weak mounting mechanisms with which to hold end effectors in place and change them easily without damage. This is to be addressed according to the present disclosure by a universal adaptor which provides a more solid and robust connection mechanism.

A number of haptic devices are supplied with an end effector that is connected to the device via a jack plug type retaining mechanism. As well as offering a range of movement within a specified number of degrees of freedom these haptic devices often offer the opportunity to replace the existing end effector with a custom end effector and also they tend to have a strictly limited amount of feedback built in, generally in the form of buttons that can be pressed to send a signal back to the calling program. The signal is limited and is of the on/off, yes/no type or a given value set by the device manufacturers that cannot easily if at all be changed. These signals can be sent back to the calling program or interpreted by an API that accompanies the haptic device in question.

This is not sufficient to cope with the sorts of things an end effector often needs to accomplish. For instance, taking a medical example with scissors and tenaculum forceps, it is important to know if the instrument is open or closed and by how much. It is necessary to reflect the actions taken with the instrument in the graphical version of the instrument that the user sees which of course does not exist, while the user holds the end effector causing the motion or event in one hand or the other. It is important for the realism of the application that the two instruments, real and graphical, act in tandem. Additionally it is important that the end effector displayed in the simulator screen is the one actually attached to the haptic device, so the end effector needs to identify itself to the software that produces the simulation. In this case it does report this directly to the software.

The present disclosure provides solutions to alleviate or solve one or more of these problems. As mentioned above, some exemplary specific embodiments can be understood with reference to the accompanying figures.

Figure 1 shows two existing haptic devices, the OMNI™ 10, and the OMNI™ End Effector 12 which are available from SensAble Technologies, Inc. and the Novint FALCON® 14 and end effector 16 which are available from Novint Technologies, Inc. Embodiments of haptic device end effectors according to the present disclosure may be compatible with these existing devices, and provide enhancements for them. The existing end effectors 12, 16 could be replaced with an adaptor (an example of which is shown in Figure 2), allowing data transfer and easy addition and removal of end effectors (as shown in Figure 4).

Referring now to the embodiment illustrated in Figure 2, an example of an adaptor is shown. A printed circuit board (PCB) 18 fits into a PCB locator 20 inside a first casing part 22. A magnet 24 is located in a magnet retainer 26 at the anterior of a narrow end of the casing part 22. A second casing part 28 is then attached via fixings 30 to the first casing part 22 to secure the magnet 24 and PCB 18. The casing parts 22, 28 may in a preferred embodiment be formed from a plastic material. Figure 2 also shows wiring 32 that connects the PCB 18 to an Interface Board (shown in Figure 3), to transfer data from the end effectors (shown in Figure 4). in an alternative embodiment, the adaptor could be equipped with a wireless transceiver for the transmission of data according to any appropriate wireless standard. This may be provided alongside the wiring 32, in order to provide flexibility of connectivity, or it could be provided in place of the wiring 32.

Referring now to Figure 3, this shows an example of an Interface Board 34 housed in a casing 36, which may in a preferred embodiment be a plastic box. An adaptor (Figure 2) will plug into the Interface Board 34 via wiring 32 (Figure 2), which in turn recognizes if an end effector (Figure 4) is attached to the adaptor (Figure 2) and interprets any sensor positions. The interface board 34 then transmits this information to a computer which is running simulation software to accurately determine which end effectors are currently in use and the position of any sensors, via wiring 35. In the case of a wireless data connection, the interface board 34 may be provided with suitable wireless transceivers in addition to or in place of physical wired connections.

Referring now to the embodiment illustrated in Figure 4, an example of a female part of an end effector, which attaches to an adaptor (Figure 2) and is universal across all end effectors for use with the adaptor illustrated in Figure 2 is shown. A USB Connector 38 is placed in a USB locator 40 in a first casing part 42. The USB Connector 38 is then soldered onto an identification board 44 which in turn is placed in a board locator 46 in a the first casing part 42. The identification board comprises circuitry for performing device enumeration, that is, communicating the identity of the end effector to the haptic device. The circuitry for device enumeration is preferably compliant with one or more of existing or future USB standards. Data storage and transmission circuitry can also be included on the identification board, which can also be in compliance with any of the USB standards. The identification board 44 transmits a signal through the adaptor (Figure 2) to the Interface Board (Figure 3) detailing which device end effector it is and, if it is attached to a sensor via copper wiring 48 or a wireless connection, the positional readings from the sensor. A magnet 50 is housed in a magnet retainer 52. The rest of the end effector (Figures 5,6) is then placed in to the female mating joint 54. All parts are then secured by attaching a second casing part 56 to the first casing part 42 with Fixings 30. The casing parts 42, 56 may in a preferred embodiment be formed from a plastic material.

Referring now to the embodiment illustrated in Figure 5, an example of an end effector with a linear sensor (for example, of the type comprising a translational resistance element) to simulate a linear motion in the software is shown. A slider part 58a is placed into a first casing part 60a (which in a preferred embodiment is formed from plastic) so that the lip of the slider part 58a protrudes out of the underside of first casing part 60a. A linear sensor 62 is then placed parallel to slider part 58a inside the first casing part 60a. A second slider part 58b is then placed on top of the linear sensor 62 and slider part 58a, encasing the linear sensor 62 and enabling the two sliders to move independently of the linear sensor 62.

A first wiper detent 64a and second wiper detent 64b exert pressure on the linear sensor 62 as the first and second slider parts 58a, 58b are moved to give the positional reading of the sliders 58a, 58b. A second casing part 60b (which in a preferred embodiment is formed from plastic) is then placed on top of the first casing part 60a so that the lip of the second slider part 58b protrudes from the second casing part 60b. The first and second casing parts 60a, 60b are then secured together with fixings 65. This creates a male mating joint 66 which is placed inside the female part of the end effector (Figure 4).

Referring now to the embodiment illustrated in Figure 6, an example of an end effector with a rotary sensor to simulate a rotational motion in accompanying simulation software is shown. A Rotary Sensor 68 is placed into a first casing part 70 (which in a preferred embodiment is formed from plastic) and soldered to the female end effector (Figure 4). A tool part 72 is placed onto a locating pin 74. A second casing part 76 (which in a preferred embodiment is formed from plastic) is then placed on top of the first casing part 70, encasing the end of the tool part 72, and is then secured with fixings 30. This creates a male mating joint 66 which is placed inside the female part of the end effector (Figure 4). A cover 78 (preferably plastic) is then pushed onto the first casing part 70 until secure, covering the rotary sensor 68. A wiper detent 80 is then screwed into the second casing part 78 until it makes contact with the rotary sensor 68. As the tool part 72 is opened and closed the wiper detent 80 exerts pressure on the rotary sensor 68, giving a positional reading of the tool part 72.

Referring now to the embodiment illustrated in Figure 7, this shows a complete rotary end effector 82 and a complete linear end effector 84 attached to adaptors 86. The rotary end effector 82 and linear end effector 84 push onto the adaptors 86 to attach and connect via USB and magnets, ensuring they stay attached and enable data transfer via cable to or wireless transmission to the computer so that the software can interpret and accurately replicate the end effector movements.

The present invention provides a haptic feedback device with a universal adapter. Any number of different types of end effectors can be attached to the universal adapter. Means are provided for the type of end effector to be automatically detected. Said means can comprise for example device- type enumeration according to the USB standard. Other applicable standards may be used such as RFID recognition. Once a device type is identified, appropriate software can be loaded into a computer forming part of a haptic feedback simulation system. The disclosure further provides for the ability to send additional information back to the calling program. This information can include but is not limited to details of linear motion along orthogonal set vectors on the end effector which could not otherwise be done; the details of rotational movement of a moving part of the end effector, the positioning of multiple switches at any given point or points in time, or the connection of one or more other objects to the end effector.

The end effectors themselves comprise a male end effector adaptor and a female end effector body which attaches to the aforementioned male end effector adaptor which in turn attaches to the haptic device. The male end effector adaptor is designed to remain constantly attached to the haptic device to enable the easy and fast attaching and detaching of various end effectors. The end effector body resembles the real-world item which is used in the same way as its real world counterpart , while the end effector adapter is designed to fit with the universal adapter. The end effector adapter and end effector body may be integrated together, or various different end effector bodies can be designed to fit with a given end effector adapter design. Also, the universal adapter may in an

embodiment be provided as an integral part of a haptic feedback generating device.

The universal adapter allows for quick and easy removal of end effectors from the haptic feedback generating device without placing a lot of stress on the components. A jack interface of the type found on existing haptic feedback generating devices requires quite a bit of force when removing or attaching an end effector, which could lead to breakages. The universal adaptor builds upon this interface to provide a more resilient means of attaching end effectors to an haptic device. The adapter also allows for any number of custom end effectors to be created using a common interface.

This end effector system provides a far more flexible approach than the existing end effector. The existing end effectors available provide for one or more buttons that can be used to implement features in a software application, however the present system provides a customizable USB interface that can be used to represent a number of buttons or switches together with linear sliders and rotary movement, enabling the creation of end effectors that feel and behave a lot more like the real instruments they are modeled on. This means the present system can provide more realistic feedback to the user and more importantly it can report on the performance of individuals performing these movements and clarify that certain positions were reached or switches set, without the user having to switch to a keyboard to input information which detracts from the immersive experience.

The present end effector system also contains a method for identifying what type of end effector is placed on the force feedback generating device. This enables the creation of applications that can recognize the end effector attached to the universal adapter and display the appropriate images on screen. This in turn removes the possibility of a user having one end effector attached to a haptic device whilst another is selected within the program. This again removes the need for the user to stop their current action and inform the simulation software of the change, which distracts the user from the task in hand and removes an element of the realism of the simulation.

As well as USB for detecting the identities of end effectors, other data communication methods could be used, such as Bluetooth, firewire, wireless network, RFID.

Example end effectors include medical devices such as dilators, intrauterine contraceptive devices (lUDs - Bayer's Mirena device being an example); sounding devices used in internal inspections, tenaculam forceps; scissors, scalpels and needles to name but a few.

The principles of the disclosure can also be applied to non-medical fields, for example training in how to lay oil or gas pipelines; and uses in various industrial or factory settings. In these situations the end effector tools could represent real world tools such as screwdrivers, spanners, drills, air tools and hammers to give some examples. The present application is not limited to the medical sphere.

This disclosure therefore provides a solution which offers or contributes towards one or more of the following advantages:

• Ability for the end effector to be recognised on being attached to the haptic device by the simulation program that is currently running and if necessary for the visuals being portrayed to the user to be updated to represent that end effector as opposed to the one previously in use.

• The ability to prevent the user from connecting one end effector and for whatever reason selecting the wrong end effector in the program which can happen otherwise as the simulation software without this adaptation has no means of recognizing the user's error.

• Allows for the reporting of more than just a simple on/off or yes/no signal but to give direct feedback on user action as it happens, by utilising the end effector to produce a different type of movement such as linear or rotary, to allow feedback on how much movement is being obtained and where that movement is happening. This reporting back may be allowed by a retention mechanism such as: Bluetooth, firewire, wireless network, RFID or USB to give a few examples.

• Ability for more complex actions to be reported and measured

thereby increasing the potential of the simulation system with regard to performance measurement • Allows for a task to be completed more easily without disrupting the flow of the virtual reality by the need to register end effectors within the simulation program each time an end effector is changed.

• To provide a more secure and reliable anchorage to the haptic

device which is capable of withstanding many end effectors being attached and detached without breaking either the anchorage to the haptic device or the end effector.

This disclosure provides an end effector adaptor with which to securely anchor end effectors irrespective of what the haptic device offers. The example given uses an OMNI® device from SensAble® but the

mechanism can be adapted for other types of existing haptic feedback devices. The idea is to enable swift changing of end effectors without damage to either the haptic device or the end effector. There are many ways to achieve this but it is the securing mechanism which is important and this may be one solitary locking device, magnets, USB connection etc. Additionally the disclosure provides for identifying the end effector placed upon the haptic device by notifying the program of which end effector has been attached to it. This means the user can continue with their work without having to stop to visually swap the end effectors in the simulator program in order to see the correct visuals. Additionally it prevents the user from seeing one end effector while actually holding a quite different end effector, the system ensures that the user sees exactly what they should see. The existing provision distracts from the work the user is doing. The disclosure seeks to send this notification by having the end effector send a signal to the program via Bluetooth, firewire, wireless network, RFID or USB to give a few examples to the calling program which uniquely identifies that particular device and which allows for the creation of limitless end effectors which can all be recognised by this new work.

This disclosure also covers passing more than just on/off notifications back to the simulator program. It is often necessary when replicating a tool in use to be able to identify other types of movement or use. The figures illustrate examples of medical instruments to illustrate this but the same principles could apply to any other industry where haptics is used now or in the future as well, including but not limited to medical, clinical, industrial, design, nuclear, engineering, deep sea, underground (drilling, pipe laying etc.) to have differing sorts of motion or action and to be able to report on this and state what position the mechanism or tool is at any one point in time or indeed continuously. There is a need to have rotary movement of a simulated instrument or tool, examples from the medical field including scissors or tenaculum forceps, where the blades open and close and the user needs to see the visuals in the simulation react in real time to the end effector instruments being used. If they don't then the 'illusion' of working in the haptic environment is lost. Equally this could well be a dial on some other machinery that is meant to be turned to various positions at certain times in the procedure, such as the controls on a drill to allow the selection of different speeds, or perhaps sliders or switches that need to be set to multiple positions during a procedure or task. The current method of on/off reporting only does not allow for this reporting of very precise movements to certain given points which could be key to the operation or procedure taking place and which may need to be measured to reflect performance. The present disclosure allows for the notification and therefore subsequent reporting of such events. Equally this movement may be a linear sliding movement where again precise information on the current location of the slider is imperative at certain points in the procedure. For example, it may be required to identify one place at the start, moving to a second place at a later point and finishing at any other number of possible points later in the sequence of events. This is especially important where timing or structure of events is important.

It may be that there is also a need to know if something has been connected to the end effector or removed from the end effector and again this could be crucial for reporting and performance metrics and it is not currently available. This could be a tube being connected to a simulated medical device via an end effector or a part being attached to a piece of equipment in an industrial field for example.

Some real world instruments or tools have one or more switches that may have different settings that need to be selected at different times or under differing circumstances, again the prior art cannot cope with multiple inputs. However the present disclosure builds upon this ability and offers multiple feedback opportunities to suit the different needs of multiple training scenarios.

In other words, the present disclosure takes a tool that has limited ability and provides it with linear, rotary and specific motions and adds the ability to identify itself as well as to be better attached with less damage to the parts concerned. This equates to taking a dumb device and producing something which is intelligent and provides a universal connector. A USB connection, wireless connection, Bluetooth or other method of transferring data may be used. A haptic device interacts with software and allows the creation of "software that you can touch". It provides force feedback to the user dependent upon the types of surface the Virtual Reality simulation is working with. So if the user is working with a soft material the force feedback will echo this, if the material is hard or resists interaction then again the force feedback echoes this.

As the user attaches the end effector to the device, the device is recognised by the registration mechanism and the software instructs the corresponding visuals to appear on screen in the simulator. The end effectors are connected to the haptic device via an adaptor which slots over connector proffered by the haptic device and stays permanently attached to the device and ready to accept end effectors. This resolves the issue of the haptic device connection devices for end effectors not being robust enough for long term use and provides a much easier way of swapping end effectors on and off the haptic devices. A retaining mechanism may be utilised to hold the end effectors in place according to the need of the individual tool being used. The retaining mechanism may take many forms such as manual clips, rubber ring connectors or a magnet, or USB connector or indeed any combination of such items, sufficient to hold the end effector in place.

In one example embodiment, a magnet and a USB connector are provided to affix the end effector to the device. This is useful in a wide variety of cases. For example, consider a medical instrument which should only be used with a certain amount of force. The magnet can be made sufficiently strong so that the end effector cannot be pulled off accidentally unless a user exerts too much force (if it wasn't then there would be the potential for injury). The force needed to remove the end effector is greater than the force that should be exerted in any given situation at any time, so that if someone does manage to use too much force and remove the end effector then they are working outside of the parameters that would be expected and being overly aggressive with the haptic device. This has been designed this way to prevent harm to the actual haptic devices concerned as these tend to have boundaries for the amounts of force exerted upon them. Too much excessive force exerted upon the device can generally damage the haptic device, so the end effector connection mechanism is designed to prevent this from happening. The end effectors allow a variety of actions to be transmitted or reported back to the calling program. From the opening, closing and current position of instruments like scissors to the sliding characteristics required by the example given here where it is of great importance to know where on the slider the user currently has the inserter so that the system can report clearly on the procedure being undertaken. As well as this it is important to report on such things as whether a part of the end effector is open or closed, how open or how closed it is, if it is a slider then how far up or down the scale has it been moved, has the end effector been used in the precise way instructed or has the user deviated from instruction, at what part in their current procedure are they, has the procedure or set of actions been carried out in order and even whether or not another piece of equipment has been connected to it.

Also the disclosure allows for multiple positioning or identification of different switches and their positions such that complex tools can be simulated, for example a tool resembling a drill could be set to particular speeds at particular times as well as being able to be turned on and off via the end effector itself and not from the software. This allows for a greater virtual experience, more accurate training representation and the ability to better record, manage and measure performance over time. Simulations may be laparoscopic or in 2D where the user operates tools in one location but views what they are doing on a screen in a different location ('See there, Touch here') or they may be 3D in a collocated existence where the user feels the interaction and views the interaction in the same location ('See here, Touch here'). The simulation may also be part of a CAVE or glove box scenario to give other examples, as the proposed invention covers any such situation. The actions that can be simulated include medical/surgical tasks, for example, finding a vein in an arm or a wrist/hand, or implanting an intrauterine contraceptive device (IUD), cutting, suturing or any other such task. The haptic device and end effectors can be used across a wide range of disciplines from medical and gaming through to heavy

engineering, nuclear processing, undersea pipe laying etc. It is especially suited to training for tasks which are difficult to accomplish and costly in execution.

Various improvements and modifications can be made to the above without departing from the scope of the invention.