Apparatus for simulating insertion of an elongated instrument into a structure including a pulley and a pulley position sensing arrangement
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United States of America Patent
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Sep 5, 2017
Grant Date -
Aug 31, 2017
app pub date -
Feb 26, 2016
filing date -
Feb 26, 2016
priority date (Note) -
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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.
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