Apparatus for simulating insertion of an elongated instrument into a structure and medical insertion simulator
US10134306B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 26, 2016 |
| Grant date | Nov 20, 2018 |
| Priority date | — |
| Expiry date | Feb 26, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG09B23/28
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The present disclosure relates to an apparatus for simulating insertion of an elongated instrument attached to a tether into a structure. The apparatus comprises a casing having an aperture for receiving a distal end of the tether therethrough. The apparatus has a pulley having an outer tether receiving groove on a peripheral portion and an anchoring element therein for anchoring the distal end of the tether, the pulley rotating according to a longitudinal translation of the tether relatively to the casing. The apparatus has a sensing arrangement for sensing an angular position of the pulley representative of a relative longitudinal position of the elongated instrument. The apparatus has a feedback force actuator for applying an adjustable resistive force to a rotation of the pulley according to the sensed angular position and resistance characteristics of the structure. The present disclosure also relates to a medical insertion simulator comprising such an apparatus.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.