Maxime Lavigueur,Alexandre Picard,Giuseppe Mallaci,Francois Caron
申请号：
US15054501
公开号：
US09754513B1
申请日:
2016.02.26
申请国别(地区):
US
年份:
2017
代理人:
摘要：
The present disclosure relates to an apparatus for simulating insertion of an inner elongated instrument attached to a tether into a structure through an outer elongated instrument. The apparatus has a carriage for mounting the outer elongated instrument, for translation according to a translation of the outer elongated instrument. The apparatus has a pulley for anchoring a tether and rotating according to a longitudinal translation of the tether into the outer elongated instrument. The apparatus has a feedback force actuator for applying an adjustable resistive force to a translation of the carriage according to the sensed longitudinal position of the carriage and resistance characteristics of the structure, and for further applying an adjustable resistive force to a rotation of the pulley according to the sensed angular position of the pulley and the resistance characteristics. The present disclosure also relates to a medical insertion simulator comprising such an apparatus.
