Apparatus for simulating insertion of an elongated instrument into a structure including a pulley and a pulley position sensing arrangement
US9754513B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 26, 2016 |
| Grant date | Sep 5, 2017 |
| 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 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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.