U.S. patent application number 10/541295 was filed with the patent office on 2006-08-17 for interactive teaching and learning device with three-dimensional model.
Invention is credited to Rainer Burgkart, Robert Riener.
Application Number | 20060183096 10/541295 |
Document ID | / |
Family ID | 32519512 |
Filed Date | 2006-08-17 |
United States Patent
Application |
20060183096 |
Kind Code |
A1 |
Riener; Robert ; et
al. |
August 17, 2006 |
Interactive teaching and learning device with three-dimensional
model
Abstract
The invention relates to a device which allows to preferably
explain and demonstrate three-dimensional objects, such as anatomic
models or also models and exhibits for museums and fairs. According
to the invention the model 1 is fastened to the adjacencies by at
least one multiple-component force-torque measurement device 2,
includes an electronic storage and evaluation unit and an
optic-visual and/or acoustic indicating device. The force-torque
measurement device 2 converts the forces and moments arising when
the model 1 is touched into electrical measurement signals to be
leaded to the electronic storage and evaluation unit, and in the
electronic storage and evaluation unit the contact zone is
calculated from the forces and torques detected as a result of the
touch, and is communicated to the operator as a signal by means of
the optic-visual and/or acoustic indicating device.
Inventors: |
Riener; Robert;
(Vaterstetten, DE) ; Burgkart; Rainer; (Munich,
DE) |
Correspondence
Address: |
HENRY M FEIEREISEN, LLC
350 FIFTH AVENUE
SUITE 4714
NEW YORK
NY
10118
US
|
Family ID: |
32519512 |
Appl. No.: |
10/541295 |
Filed: |
December 31, 2003 |
PCT Filed: |
December 31, 2003 |
PCT NO: |
PCT/DE03/04292 |
371 Date: |
July 18, 2005 |
Current U.S.
Class: |
434/276 ;
434/267 |
Current CPC
Class: |
G09B 23/30 20130101 |
Class at
Publication: |
434/276 ;
434/267 |
International
Class: |
G09B 23/28 20060101
G09B023/28; G09B 23/00 20060101 G09B023/00 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 31, 2002 |
DE |
102 61 673.6 |
Claims
1. An interactive teaching and learning device which comprises a 3D
body (1) to be touched which is fastened to the adjacencies by
means of at least one multiple-component force-torque measurement
device (2), an electronic storage and evaluation system, an
optic-visual and/or acoustic indicating device, whereby the
force-torque measurement device converts the forces and moments
arising when the model body is touched into electrical measurement
signals to be leaded to the electronic storage and evaluation unit,
while a mathematical model of the geometry of the 3D body is
implemented in the electronic storage and evaluation unit, and an
algorithm which on the basis of the forces and torques detected
when the touch is carried out calculates the contact zone at the 3D
body, which is communicated to the touching operator as signal by
means of the optic-visual and/or acoustic indicating device.
2. A teaching and learning device which comprises a 3D body (1) to
be touched which is fastened to the adjacencies by at least one
multiple-component force-torque measurement device (2), an
electronic storage and evaluation unit, an optic-visual and/or
acoustic indicating device, whereby the force-torque measurement
device converts the forces and moments arising when the model body
is touched into electrical measurement signals to be leaded to the
electronic storage and evaluation unit, force-torque measurement
signals of predetermined contact points are stored in the memory of
the electronic storage and evaluation unit, and an assignment
algorithm is implemented which based on the detected forces and
torques assigns the contact zone at the 3D body which is
communicated to the touching operator as signal by means of the
optic-visual and/or acoustic indicating device.
3. A teaching and learning device according to claim 1 or 2
characterized in that the optic-visual indicating device comprises
a projector projecting visual data, such as texts or images,
directly to the area touched.
4. A teaching and learning device according to claim 3
characterized in that the projector is a video projector.
Description
[0001] The invention relates to a device which allows to preferably
explain and demonstrate three-dimensional objects, e. g. anatomical
models or even models and exhibits for museums and fairs.
[0002] In the field of medical training or in medical
demonstrations anatomical models of plastic material or other
materials are frequently used. For the explanation or accentuation
of certain anatomical areas it is often advisable to mark the
relative areas by inscriptions or coloured signs.
[0003] The problem with regard to such models is that for the
reason of lack of space the information to be imparted by means of
an inscription must not be very voluminous. In many cases the
inscription is completely omitted, as, for example, the texture of
the model (colouring, fine vessels, nerves etc., are to remain
recognizable. Therefore the names and informative details belonging
to the individual areas of a model are listed on a sheet of paper.
The assignment follows from numbers indicated on the model, or from
sketches or photos which show the relative areas of the model.
Therefore the identification of the model areas of interest is
often very complicated and unclear.
[0004] The same problems apply to the construction of
three-dimensional demonstration models shown in museums or at
fairs, in which cases--contrary to medical models--even original
objects, such as an oldtimer vehicle in an automobile museum, may
be concerned.
[0005] Regarding these museum and fair models it may also be
advisable to make inscriptions or coloured marks for illustrating,
describing or accentuating certain areas or elements of the model.
For this purpose electrical switches are often used which--after
being touched on the model or away from it--ensure that a certain
area of the model becomes visible by means of small incandescent
lamps or is explained by means of an inscription lighted up.
So-called touchpads are used for special applications allowing the
detection of a flat force distribution on the basis of sensing
elements arranged in a matrix array, please see also DE 36 42 088
C2. The disadvantage of such arrangements is that there are sensor
components between the touched model and the operator so that the
original contact properties, such as surface condition, shape and
colour, are distorted. Furthermore, owing to the mounting of the
sensor components the model to be touched has to be processed. As a
result the model may be changed or even damaged. Further, in order
to achieve a sufficient level of space resolution over the whole of
the concerned model area, a plurality of sensors sensitive to
pressure have to be used.
[0006] These disadvantages are partly removed by the usage of
so-called navigation or tracking systems which detect the contact
point not on the side of the model but on the side of the operator,
e. g. by tracking the operator's finger or instrument. The range of
equipment required for the detection of the operator's movement,
however, is excessive.
[0007] Therefore it is the object of the invention to provide
improved models for learning and demonstrating purposes which,
above all, overcome the above mentioned disadvantages.
[0008] This task is solved by a device according to claims 1 and
2:
[0009] According to claim 1 a teaching and learning device showing
the following characteristics is provided: A 3D body incorporating
the model is fastened to the adjacencies by at least one
multi-component electrical force-torque measurement device. When
the 3D body is touched the forces and torques arising are converted
into electrical measurement signals which are leaded to an
electronic storage and evaluation system. In the electronic storage
and evaluation system a mathematical model of the geometry of the
3D body is implemented. Hereinafter geometry means at least each
surface area of the model which can be contacted and which is to be
explained, i. e. also body hollows of an anatomical model.
[0010] Furthermore an algorithm known as such from the state of the
art is implemented, which calculates the place at the 3D body just
being touched, for example by a finger or a needle, from the forces
and torques detected as the result of the contact.
[0011] The calculated place of the contact is indicated or
displayed by means of an indicating device. The mode of indication
and/or output is optional and is executed in accordance with the
purpose to be achieved. Optic-visual and/or acoustic indicating
devices as known from the state of the art are preferred.
[0012] The invention according to claim 2 as an invention on its
own is subordinated to the same basic idea as the invention
according to claim 1.
[0013] The fundamental difference, however, is that no mathematical
model is stored in the electronic storage and evaluation system,
but a data table in which the contact points of interest are
stored.
[0014] These contact points are implemented by means of the
"teaching" method known from the state of the art, which means that
the place to be "taught" on or in the 3D body (for example a body
hollow) is touched by a finger or an instrument, thereby applying a
predetermined force which is transferred to the multiple-component
force-torque measurement device.
[0015] The forces and torques detected by the multiple-component
force-torque measurement device are compared with the data stored
in the data table. By means of an assignment algorithm the place
touched is detected and displayed by the indicating device.
Contrary to the invention according to claim 1, which, on principle
detects any point as far as it is covered by the mathematical
model, the invention in accordance with claim 2 can practically
detect the pre-taught points only.
[0016] The model is fastened to a table, a wall, a ceiling or any
other base surface by only one multiple-component force-torque
measurement device. For the reason of a better mechanical stability
even several force measurement devices may be used.
Multiple-component force-torque measurement devices are part of the
state of the art and are commercially offered as modular
components. Additional holding appliances may also be used if
required by the dimensions of the 3D body. These holding
appliances, however, must be constructed in a way to unambiguously
and reproducibly feed the force caused by the touch to the
force-torque measurement device or the force-torque measurement
devices.
[0017] The outstanding feature compared with the devices hitherto
known is that the touch-sensitive sensor system is not positioned
at the touch point of the model but is arranged as connecting
element between the model and the adjacencies. For this reason
there is no need to expensively adapt the model. Furthermore nearly
any number of touch points may be generated, which is not possible
with regard to the devices of the known art.
[0018] The construction as mentioned above allows to visually
and/or acoustically explain, describe or accentuate the areas,
points of elements of the model touched by the operator. For
example the details shown may be the name, certain properties and
functions of the area or element of the identified model. The
details are made readable or visually recognizable by means of a
visual display unit, and/or audible by means of loudspeakers. Also
films or graphic animations can be imported depending on what kind
of setting and operating activities have been made. Further the
amount of the force detected and the direction of the force
detected can be further processed by the data processor and
reproduced as a graphically animated vector arrow or as an acoustic
signal. If for example, the operator applies too high forces to the
model a visual or acoustic warning signal or a warning voice may
ensure that the operator stops applying force to the model so as to
avoid a destruction of the model or the force sensor.
[0019] The mathematical representation of the used model can be
determined by means of 3D-scanners (CT, magnetic resonance
tomography, laser scanner etc.) and stored in a data processor.
When the teaching method is used the relative areas of the model
are touched, and the thereby arising forces and torques are
measured and stored and assigned, for example by the input of
texts. In this case the assignment method can be supported by
up-to-date techniques such as artificial neural networks. As soon
as in the course of the later application forces arise which are
comparable with those measured in the teaching process, the element
touched is detected automatically.
[0020] The geometric image of the model can also be represented in
a graphically animated way. In the animation certain areas of the
model which are touched can be marked by colour or by means of an
arrow. Even very fine details which are positioned near the touch
point but cannot be marked on the real model for lack of space can
be visualized by means of the visual display unit.
[0021] On the model or within certain predetermined areas of the
model several distinguishable menu points which optically differ in
colour, size, shape, inscription can be marked. If one of these
menu points is touched, depending on the kind of the point a
certain reaction is released or menu function is executed which is
displayed acoustically or graphically.
[0022] Alternatively or in addition to the points which are
optically distinguishable, certain touch patterns with typical
force/time behaviours may lead to various graphic and acoustic
responses. Such touch patters are for example: long or short
contacts, light or strong contact pressing, as well as tapping
signs with varying numbers of taps such as the double click in the
Windows programme which leads to the opening of a file.
[0023] The invention can be operated in two different modes. The
above mentioned function represents the so-called standard mode, in
which the touch results in a graphic and/or acoustic response. In
the so-called inquiry mode at first a graphic or acoustic request
can be put to the operator such as to touch a certain area of the
model. Thereupon the operator, e. g. a student to be examined,
touches the supposed area, and the data processor checks whether
the correct area has been touched, i. e. detected. As a result it
is further possible to verify whether the operator has contacted
the areas in the right order and, if required, also in the correct
periods of time and by applying the correct amounts and directions
of forces. Success, failure or a valuation are then communicated to
the operator by means of the graphic and/or acoustic display. By
using this mode the operator's knowledge is tested.
[0024] According to claim 3 the optic-visual indicating device
includes a projector which projects visual data such as texts or
images directly to the area touched, which also allows to project
the reverse sides. It is required, however, that the colour and the
surface of the model area are adjusted to match the projection. If,
for example, the operator with growing force presses the lung of
the model, more low-lying sections are projected and represented.
It is known to the specialist that such projections can be shown on
separate monitors as well.
[0025] According to claim 4 the projector is provided as video
projector. This, for example, allows to show the blood
transportation in the lung in a way very similar to reality, thus
further improving the informative effect.
[0026] Further it is to be mentioned that there is a number of
intelligent algorithms for the evaluation of the signals of the
force-torque measurement device. In case of a dismountable anatomic
model, for example, the remaining mass is reduced when an organ is
removed. Therefore, if the masses of the dismountable organs are
different and known, it is possible to determine the dismounted
organ by a simple weight classification. It is further possible to
utilize the shifting of the centre of gravity of the model on
removal of an organ for the determination. If a certain organ is
removed, on principle the force-torque measurement device does not
only record a reduction in weight but also a tilting moment. To
minimize the possibility of confusion it is further possible to
provide for algorithms for plausibility checks. Consequently, if,
for example, two organs are of the same weight, however, are
positioned one behind the other and therefore can be removed only
in the predetermined order, the organ just removed can be clearly
identified.
[0027] Now the description of the invention will be made at greater
detail by means of examples of embodiments and schematic
drawings:
[0028] FIG. 1a-f show the application of the invention to a model
of an anatomic torso.
[0029] FIG. 2 shows the application of the invention to a model ear
for the training in acupuncture.
[0030] FIG. 3 shows an embodiment with divided model.
[0031] FIG. 4a, b show an embodiment of the invention for a
non-medical application.
[0032] FIG. 1a shows an artificial open upper part of a body 1
(phantom torso) with dismountable organs. In this embodiment the
invention serves to support the medical training. The torso is
mounted on a 6-component force-torque sensor 2. The sensor data
lead to a data processing unit with graphic and acoustic output. On
the individual organs there are several small dots in yellow, blue
and green colour. If, for example, a student of medicine touches
one of the organs or a certain area of an organ, the name of the
relative organ or area is communicated to him acoustically.
Simultaneously a monitor shows the torso as artificial image in a
shaded way and the name of the area touched is inserted. By the way
of graphic animation the touched structures can be accentuated in
colour. Even very fine anatomic structures, such as blood vessels,
veinlets, lines of nerves, base points of muscles, can be made
visible. If then an operator touches the yellow dot on the
artificial organ of the torso, a photorealistic view of the organ
or the area of the organ is represented to him on the monitor. In
case of the blue dot the physiological relevance and possible
pathologies are graphically and acoustically described. After all
the green dot allows to start the graphic animation and films with
sound. Further by an increase in pressure on an organ or the skin
of the torso model it becomes possible to dip into the depth like a
pin prick. As a result various body sections and internal sights
are graphically represented in an animated way. In the inquiry mode
(control mode) an artificial voice can request the operator to
touch a certain area which is relevant from the anatomic point of
view. The place touched is then recorded by the data processing
unit and the result is acoustically and graphically communicated
and commented to the operator.
[0033] FIG. 1b shows the operator removing one of the organs from
the torso. As a result the sensor records an amended weight and a
shifting of the centre of gravity. As the weights of the individual
components are known, the sensor automatically detects the organ
which has been removed. Thereupon the artificial display of the
torso on the monitor adjusts itself according to the amended
torso.
[0034] FIG. 1c shows how after the removal of several parts of
organs more low-lying structures that have not been visible so far
become visible now and can be explored further by touching them and
by means of acoustic-graphic support.
[0035] FIG. 1d shows a different graphic and acoustic display using
a head-mounted-display (HMD). By the projection of two separate
images to both eyes a realistic three-dimensional image impression
is achieved. The acoustic message is communicated to the operator
by means of stereo headphones.
[0036] FIG. 1e shows a different graphic display in which the text
and image data are projected directly to the touched model. This
can be realized by means of a commercial projection beamer, in
which case as for this example the model surface is to be white or
unicoloured in a light colour.
[0037] FIG. 1f shows an embodiment in which the phantom torso is
fastened by two multiple-component sensors 2a, 2b. The relative
force-torque signals are vectorially added up and finally further
processed by the data processing unit as sum signal which
corresponds to the signal of one single sensor.
[0038] FIG. 2 shows an embodiment in which a phantom ear is
utilized for the acupuncture training. The phantom ear is connected
with a force-torque sensor 2. The ear shows marks of the most
important acupuncture positions. If the operator by means of a
sharp-pointed object which is similar to an acupuncture pin touches
the phantom ear, a voice and the monitor image tell him the name
and the effect of the aimed dot. In this example of application the
acoustic information and the text insertions are meaningful also
for the reason that there is not enough space on the ear for the
names and effects of the dots. Sound and image can also guide the
operator when he looks for a desired dot. Further it is also
possible to check how much time is taken by the operator to look
for a certain dot and in which sequence he approaches these
dots.
[0039] FIG. 3 shows an embodiment in which the model is divided.
This means that the right model part is connected with the table by
a force-torque sensor 2a. The left model part, however, is
connected with the right model part by means of a further
force-torque sensor 2b. The sensor 2b is the only connecting
element between the right and the left model parts. By this
arrangement 2 forces--one per model part--can be initiated and
localized. This arrangement also allows ambidextrous pointing
activities. During the data processing the forces active at the
left part can unambiguously be further processed by the connecting
sensor 2b. As, however, the sensor 2a on the side of the table
receives the forces of both model parts, it is necessary for the
localization of the right contact point that both sensor ends are
coupled to each other. For this purpose the force-torque data of
the connecting sensor are component for component subtracted, i. e.
vectorially, from the force-torque data of the sensor on the side
of the table (in a common coordinate system).
[0040] FIG. 4a shows a model car mounted on a 6-component
force-torque sensor 2. The force-torque data are leaded to a data
processing unit which has an acoustic output facility by means of a
sound generator (sound card). The data processing unit includes a
mathematical image of the model car geometry. The model cars is
composed of a plurality of small components, such as wheels, doors,
bumpers, headlights. As soon as the operator (visitor of a museum)
shortly touches one of the components by his finger, he hears the
name of the touched component by means of loudspeakers. If he two
times in a row quickly taps the same element, its function is
explained to him in more detail. Simultaneously with the output of
the acoustic information the monitor shows an animated image of the
model with a coloured accentuation of the touched part and a text
box which explains the function in more detail. One single long
tapping starts a short film which describes the manufacturing
process of the touched part.
[0041] FIG. 4b shows an embodiment in which the model car is
fastened by two multiple components 2a, 2b. The relative
force-torque signals are vectorially added and finally as a sum
signal which corresponds to the signal of a single sensor further
processed by the data processing unit.
[0042] It is obvious that instead of the model car also a real
object such as an automobile can be equipped with the invention.
The particular significance in the fields of application: museum,
exhibition or fair, without doubt, consists in the novel
interaction of the exhibited object with the public that up to this
time often has not been allowed to touch the exhibits.
* * * * *