CN101344997A - Interface apparatus with cable-driven force feedback and four grounded actuators - Google Patents

Abstract

A system for providing realistic sensation within a simulation system by providing tactile (haptic) feedback to a user. The system includes an engageable practice tool that the user engages and a mechanical simulation apparatus coupled to the practice tool. The mechanical simulation apparatus includes a ground member (46), a mechanical linkage (38) rotatably coupled to the ground member (47), a linear axis member coupled to the practice tool and the mechanical linkage (38), at least four actuators (62, 64, 66, 70) coupled to the ground member, sensors (65, 67, 69) for sensing movement of the actuators, and at least three cables in contact with the at least four (actuators ) (65, 64, 66, 70) and coupled to the mechanical linkage (38). An interface device is coupled to the simulation apparatus and a host computer (20) is coupled to the interface device (14) for implementing an application program. The application program provides signals for the actuators (62, 64, 66, 70) to move the cables (130) and thereby move the mechanical linkage (38).

Description

Have the force feedback of hawser driving and the interface arrangement of four grounded actuators

The cross reference of related application

The application advocates that the exercise question of submitting to July 16 calendar year 2001 is No.60/305 for " having the force feedback of hawser driving and the interface arrangement of four grounded actuators " sequence number, the rights and interests of 957 U.S. Provisional Patent Application, the content of this temporary patent application is quoted at this as a whole for various purposes.

Statement about the right of the invention under the research of federation patronage or exploitation, done

No.

Quoting of relevant " sequence table ", form or the computer program of in the CD appendix, submitting to

No.

Technical field

Present invention generally relates to the interface arrangement between people and the computing machine, the computer interface unit of force feedback particularly is provided to the user.

Background technology

The virtual reality computer system provides them to become the illusion of the part in " virtual " environment to the user.A virtual reality system typically comprises a computer processor, virtual reality software and virtual reality input-output device, head mounted display for example, sensor glove, three-dimensional (" 3D ") mouse etc.

The virtual reality computer system can be used for training.In a lot of fields, for example aviation, traffic and system operation, virtual reality system has successfully been used " virtual " environment that makes the user therefrom learn and experience a reality.The attractive force of using the virtual reality computer system to train is that partly such system has the trainer of permission and operates relievedly to make mistakes to enjoy and also can not bring the ability of the consequence of " real world " in highly real environment.For example, the virtual reality computer system allows intern or other people gymnastics author or user to handle scalper or detector in " human body " of a computer simulation, thereby is that a virtual patient carries out medical care precess.In this example, use usually and represent operating theater instruments such as scalper or detector such as the input-output device of 3D mouse, stylus etc.When " scalper " or " detector " is mobile in space that is provided or structure, be updated in the human body image that these results that move show in the computer system screen and show, the operator has obtained the experience of operation like this, and this operation need not implemented on real human body or corpse.In other application, the virtual reality computer system allows user's operation and handles or control is complicated reaches the purpose of training and/or amusement with vehicles costliness and machine.

Because virtual reality system provides (so being effective) experience of a reality for the user, so feel that feedback and man-machine interactively should be natural as much as possible.Give computer system to provide to the user the visual representing of a three-dimensional except perception and tracking user's manual behavior and these information feedback, the human body interface arrangement also should provide (" sense of touch ") feedback of power or thoughts and feelings to the user.This demand that the user obtains real tactile data is widely in multiple simulation and other application.For example, in the medical/surgical simulation, when detector was mobile in the body of simulation, " sensation " of detector or scalpel simulator was extremely important.For the intern, there is no need to know how instrument moves in vivo, need great power when operating, have how many spaces to can be used for operating instrument or the like in vivo.The interface system of a kind of " high bandwidth " all is that everybody wants in these and other are used, and it is an interface that can reflect the signal of fast-changing and relative broad range frequency accurately and these signals be offered accurately control system.

Several conventional device are that instrument or exercisable object provide a plurality of one-movement-freedom-degrees and include tactile feedback.Yet many such devices all are confined to provide for power the category of several degree of freedom, and compare the more out of true thought and unrealistic in specific application.Device with more high fidelity and reasonable price all needs for medical treatment and other virtual emulations are used.

Summary of the invention

The invention provides a kind of system, provide a kind of real sensation for the user by resistibility is provided.Native system comprises the pieceable practice tools that a user engages.A mechanical analogue device is connected on this practice tools, and interface arrangement is connected on the analogue means.Application program provides signal for the mechanical analogue device, provides resistibility for practice tools on the basis of the practice tools position of institute's perception.

According to an aspect of the present invention, practice tools is set to an exercise medical instrument.

According to another aspect of the present invention, interface arrangement is included in the host computer.

According to another aspect of the present invention, interface arrangement separates with host computer.

According to another aspect of the present invention, interface arrangement comprises a microprocessor that is arranged in the mechanical analogue device.

According to another aspect of the present invention, system further comprises a baffle plate between mechanical analogue device and user.

According to another aspect of the present invention, practice tools is set to a laparoscopic tool and comprises a trocar.

According to another aspect of the present invention, practice tools is set to pin, tinsel, fibre bundle, stylus, joystick, screwdriver, batting pole and the handle that a kind of catheter, hypodermic injection are used.

According to another aspect of the present invention, system comprises a plurality of practice tools.

According to another aspect of the present invention, the mechanical analogue device comprises that a grounded parts, one are connected mechanical linkage on the grounded parts, linear axis parts that connecting practice tools and mechanical linkage, at least one is connected actuator and a hawser that engages and be connected with mechanical linkage with at least one actuator on the grounded parts.

According to another aspect of the present invention, system comprises at least four actuators.

According to another aspect of the present invention, actuator contains direct current motor.

According to another aspect of the present invention, system comprises that at least three hawsers engage with various forms with at least four actuators.

According to another aspect of the present invention, provide of the motion of a sensor at least with perception actuator and/or mechanical linkage.

The present invention also provides a kind of method, provides real sensation by resistibility is provided for the user.Hawser and sensor that provides pieceable practice tools, at least one actuator, at least one actuator of at least one and this that is connected on the mechanical analogue device that contains mechanical linkage to engage and be connected with mechanical linkage is provided this method.This method further comprises by user's joining tool with by the user and applies power to practice tools.The position of instrument utilizes sensor senses.The position of perception offers the host computer that includes application program, and signal offers at least one actuator and moves at least one hawser from host computer, thus the mechanically moving connecting rod.Signal is based on the position of perception and application program.

Other features and advantages of the present invention are by reading and understanding the description of preferred and embodiment exemplary hereinafter and will be understood with reference to the accompanying drawings, and wherein identical label is represented identical parts among the figure.

Description of drawings

Fig. 1 is a synoptic diagram of the present invention, is used for the purpose of medical simulation;

Fig. 2 A and 2B are the skeleton views according to medical simulation device of the present invention;

Fig. 2 C and 2D are the front elevations of the linkage assembly part of understructure and mechanical analogue device;

Fig. 2 E is the rear view according to mechanical analogue device of the present invention;

Fig. 2 F is the top view according to mechanical analogue device of the present invention;

Fig. 2 G is the view of closing top surface according to mechanical analogue device of the present invention;

Fig. 3 A is the skeleton view according to the mechanical linkage of mechanical analogue device of the present invention;

Fig. 3 B is the top view of mechanical linkage;

Fig. 3 C is the side view of mechanical linkage;

Fig. 3 D is the front view of mechanical linkage;

Fig. 3 E is the backplan of mechanical linkage;

Fig. 4 A and 4B are the skeleton views of mechanical linkage;

Fig. 5 A-5D is the side cross-sectional, view of mechanical linkage;

Fig. 6 A and 6B are respectively the backplan and the perspective bottom view of mechanical linkage;

Fig. 7 A-7C is the other cross-sectional perspective view of mechanical linkage;

Fig. 8 A and 8B are respectively the cross-sectional perspective view and the front views of mechanical linkage.

Embodiment

Fig. 1 example the present invention be used for an example of medical simulation purpose.A virtual reality system 10 is used for simulating medical procedure, and it comprises human-computer interface device 12, an electrical interface 14 and a host computer 16.The virtual reality system 10 of example refers to the virtual reality simulation of the surgical procedure in abdominal cavity.

The handle 26 of the abdominal cavity checking tool 18 that is used in combination with the present invention is by operator's operation, and the virtual reality image is presented in the display device 20 of digital processing system according to these operations.For example, when instrument 18 is moved by the user, make corresponding mobile in the patterned environment that the graph-based of instrument or part instrument can show in device 20.Display device 20 can be display screen or CRT monitor, 3D glasses or any other visual interface of standard.Digital processing system is host computer 16 normally.Host computer can be PC or workstation or other computer apparatus or processor, for example is connected the home video game systems on the televisor usually, as the system of Nintendo, Sega or Sony; One " set-top box ", it can be used for providing mutual TV functions to the user; The shop game machine; Hand-held computational tool or the like.As the preferred embodiment that describes below, a plurality of instruments 18 also can be provided, each can be operated by the user.

Host computer 16 is carried out host application programs, can be mutual with peripheral hardware and interface arrangement 14 by its user.For example, host application program can be video-game, medical simulation, scientific analysis program or even operating system or other be used for the application program of force feedback.Typically, host application program provides image and/or other feedbacks of demonstration for showing output unit, and is as audible signal, as mentioned below.The medical simulation example of Fig. 1 comprises a main frame medical simulation application program.The software that is suitable for these application can obtain from the ImmersionCorporation of San Jose in California.In addition, display screen 20 can show the image of game application or other programs.

Here the example of the people/interface arrangement 12 of example is used for simulating the abdominal cavity medical procedure.Except the handle of standard abdominal cavity checking tool 18, people/interface arrangement 12 can comprise that the abdominal cavity of a baffle plate 22 and a standard checks trocar 24 (or Counterfeit Item of trocar).Baffle plate 22 is used to represent the skin that covers on the patient body.Trocar 24 is inserted in the body of virtual patient and the passage in the patient body that comes in and goes out is provided and allows to handle the abdominal cavity checking tool for abdominal cavity checking tool 18.Baffle plate 22 and trocar 24 can omit in the device 12 of other embodiment as required.Preferably, abdominal cavity checking tool 18 is modified; In one embodiment, axle is replaced by linear axis parts, and is as described below.In another embodiment, the shaft end of instrument (as any cut edge) can be removed.Simulation can not need the far-end of abdominal cavity checking tool 18 for virtual reality.

Abdominal cavity checking tool 18 comprises a handle or " clamping " part 26 and a shaft portion 28.Shaft portion is the mechanical thing of a lengthening, and more detailed description is arranged below.In one embodiment, the present invention is devoted to the motion of tracking axis part 28 in three dimensions, is exactly four degree of freedom for instance.Axle 28 is restrained at some points along its length, and it can be by four degree of freedom motions in the patient body of simulation like this.

Mechanical hook-up 25 with dashed lines that are used for being connected with the IO interface of machinery are presented at patient's " in the body ".When simulating reciprocation on computers, computing machine will send to instrument 18 and mechanical hook-up 25 to feedback signal, and wherein this device has actuator and is used for producing power according to virtual abdominal cavity checking tool with respect to surface or the feature that is presented in the calculator display organization.Mechanical hook-up 25 will be described in more detail below.Signal can send to or receive from installing 25 by interface 30, and is similar to the interface of hereinafter describing 72.

Though one embodiment of the present of invention will be discussed with reference to abdominal cavity checking tool 18, can recognize that the object of many other types also can be used in the method and apparatus of the present invention.In fact, the present invention can use any mechanical thing, as long as it can provide the man-machine interface with 1-6 degree of freedom.Such object can comprise pin that endoscope or other the similar surgical technique and tools that is used for medical procedure, catheter, hypodermic injections use, tinsel, fibre bundle, stylus, joystick, screwdriver, batting pole, handle or the like.

Electrical interface 14 is assemblies of human-computer interface device 12, can be connected on the host computer 16 by handle assembly 12.Electrical interface 14 can be included in the shell of mechanical hook-up 25, in the host computer 16 or be provided as independently unit.Particularly, the interface 14 that uses in a preferred embodiment is used for the various actuators and the sensor (following detailed description) of handle assembly 25 and is connected on the computer 16.In certain embodiments, interface can comprise the control that a microprocessor that is arranged in device 25 comes operation sensor data and actuator.Suitable electrical arrangement for example is described in U.S. Patent No. 5,623,582; 5,821,920; 5,731,804; 5,734,373; 5,828,197; With 6,024, in 576, these all patents are hereby incorporated by reference.

Signal can be by standard interface 32 (RS-232, USB, live wire, serial ports, parallel port etc.) or wireless transmission and receptacle send to interface 14 and computing machine 16 or therefrom receive.In each embodiment of the present invention, interface 14 can be used as the output unit of the input media of unique computing machine 16, unique computing machine 16 or the input-output unit of computing machine 16.Interface 14 also can from other with device 12 input medias that are connected or controller receive and import and can pass to computing machine 16 to these inputs.For example, the user gives an order and passes to computing machine 16 by a button on the active device 12 and come fill order or make order of computing machine 16 output give device 12.

In Fig. 2 A and 2B, shown the skeleton view of a width of cloth according to the mechanical hook-up 25 of the input and output that provide machinery of the present invention.Device 25 can comprise the surgical procedure of two or more instruments 18 (only having shown among the figure) to allow the user to simulate the use abdominal cavity inspection apparatus of a reality truly.The user can operate each instrument 18 independently, and each instrument is independent perception and separate transmission in the present invention.

Each instrument 18 all is connected on the spindle unit 40 of a straight line, and wherein parts 40 are connected again on the mechanical linkage 38, and connecting rod 38 will describe in detail hereinafter.User's object 44, for example a handle preferably is connected on the spindle unit 40 of a straight line.Mechanical linkage is by understructure 46 ground connection.Actuator, for example direct current motor 40, and it can export external force on the spindle unit 40 of each straight line and instrument 18, be arranged in understructure 46 in described embodiment, is dead ground therefore.This configuration allows device 25 to produce tactile feedback high-fidelity and effective.Actuator can comprise that also sensor is used for the rotation of perception actuator, thus the motion of prospecting tools on four degree of freedom.In other embodiments, sensor can be connected connecting rod 38 parts with the more directly motion of perception instrument.

In described embodiment, spindle unit 40/ instrument 18 of each straight line can move on four degree of freedom, is respectively the degree of freedom 50 of insertion, degree of freedom 52,64, second rotational freedoms (front and back) 56 of first rotational freedom (side commentaries on classics) of distortion.Other embodiment can be restricted to degree of freedom quantity still less or extra degree of freedom is provided.

Fig. 2 C and the further example of 2D understructure 46 and linkage assembly 38 be connected part on the understructure rotationally.

Fig. 2 E example install 25 rear view, shown some actuators and the sensor of described embodiment.Rotational actuator 62, for example a direct current motor drives the degree of freedom of inserting 50, and rotational actuator 64 driving sides change degree of freedom 54, and the rotational actuator 66 that is positioned at actuator 64 back in Fig. 2 E drives distortion degree of freedom 52.Rotational freedom 56 before and after actuator and sensor paired 70 drives.

Fig. 2 F example install 25 top view, Fig. 2 G example device close the view of top surface.Pulley 72 is connecting actuator 62 and hawser 160 twines thereon.Pulley 74 is connected with actuator 64 and hawser 106 twines thereon.Pulley 76 is connecting actuator 66 and hawser 130 twines thereon.These hawsers will be explained below.The seam 77 that these hawsers all pass through the understructure side arrives mechanical linkage 38; In described embodiment, hawser can be wrapped in respectively on the central shaft of self before arriving their pulleys 72,74,76 separately.In described embodiment, the motion of the axle of sensor 65 perception actuators 64, sensor 67 perception are connecting the motion of axle 78 of the axle of actuator 62, the motion of the axle of sensor 69 perception actuators 66.These sensors are optical encoders, have transmitter and detector, and wherein detector can perception be connected the mark on the scrambler roller of pulley or axle, as shown in the figure.In described embodiment, the sensor of the degree of freedom 56 of rotating before and after the perception is provided on the shell of actuator/sensor 70 rotation with direct measurement actuator shaft.

Basically be that actuator and sensor as the other types of the conversion equipment of system can use in other embodiments, for example simulate photodiode of pot, Polhemus (magnetic) sensor, side direction effect or the like.In addition, sensor can be positioned at other positions of relative motion or mechanical hook-up 25 joints.Should be noted that the present invention not only can use absolute sensor but also can use relative sensor.Actuator can also can be all kinds, for example Zhu Dong actuator and/or passive actuator.Actuator initiatively can comprise the actuator, stepping motor of direct current control motor, stepping motor unit, pneumatic/hydraulic transmission, the actuator that can transmission power comes mobile object of direct current motor, pneumatic/hydraulic actuator, torquer (motor has limited angle range), voice coil loudspeaker voice coil and the other types of charged brush not.Also can use passive actuator.The Passively activated device of magnetic particle detent, friction brake or pneumatic/hydraulic also can additionally use or replace motor to produce the damping resistibility or the friction force of motion.In addition, in certain embodiments, the bearing that passive (or " viscous ") damper parts can be provided in device 25 is sentenced the dynamic stability of the increase mechanical system that just absorbs energy from system and can have a mind to.In other embodiments, this passive damping can utilize the inverse electromotive force (EMF) of actuator to produce energy with absorption system.In addition, in the embodiment of voice coil loudspeaker voice coil, can use multiple coil, these coils can be used to provide inverse electromotive force and damping force.

Separated these transducers that mean of actuator and sensor have been directly connected on the grounded parts 46 that joins with ground 47, just, and the weight that the instrument 18 that ground rather than user engage has carried transducer.Therefore, the weight of transducer and inertia are to be left in the basket in user's operation and Move tool basically.This provides real more interface for virtual reality system, because computing machine can provide various power for the user by the control change device on the degree of freedom of these motions.Comparatively speaking, in the configuration of the typical multiple degrees of freedom interface of technology formerly, an actuator " is ridden " on another actuator, forms the chain of a polyphone.The configuration of this low bandwidth makes the user feel the inertia of the actuator that links together during object in operation.

Alternatively, extra transducer can be increased in the device 25 and provide extra degree of freedom for instrument 18.For example, increase a transducer can for the handle of abdominal cavity checking tool 18 and come perception and/or output to be delivered to the relatively move power of this degree of freedom of two parts of instrument 18 of user, simulate for example expansion of instrument cutting edge.

Fig. 3 A (skeleton view), 3B (top view), 3C (side view), 3D (front view) and 3E (backplan) example install 25 mechanical linkage 38.Connecting rod 38 is rotating to be connected on the understructure 46 to allow second to rotate 56, and hawser extends on the actuator of understructure from each moving-member of connecting rod 38, hereinafter will describe in detail.The spindle unit 40 of straight line can move so that two degree of freedom 50 and 52 to be provided with respect to connecting rod 38, and provides two other degree of freedom 54 and 56 along with two parts of connecting rod move.

Fig. 4 A and 4B have shown the skeleton view of mechanical linkage 38.Second rotation (front and back) 56 provides by a mechanical bearing between connecting rod 38 and understructure 46.In order power to be provided for second rotation 56 from the actuator 70 of ground connection, the transmission part that capstan winch driver 80 can be used as a machinery is delivered to connecting rod 38 to power from actuator.Capstan wheel 82 can be rigidly connected on the rotation axis 71 of actuator 70, and the rotation axis of capstan wheel is parallel with the rotation axis A of connecting rod 38 to have degree of freedom 56, and the position of capstan wheel is close in the drum 84 that is rigidly connected on the connecting rod 38 simultaneously, as shown in the figure.Hawser 86 is connected an end of drum 84, twines a circle or multi-turn along the edge of drum 84 and arrive its another side along the remaining edge of drum on drum 84.Hawser can utilize tensioning nut 88 stretch-draw.In other embodiment, can use the transmitting device of other types, as gear, friction pulley, belt driver or the like.

First rotation (side direction) of connecting rod 38 provides by different hawser drivers 100.Hawser driver 100 comprises a drum 102 that is rigidly connected on the linkage component 110, and it can rotate on degree of freedom 54 around axle B with respect to linkage component 112.Two idle pulley 104a and 104b are connected rotationally on the linkage component 112 and around the axle that is parallel to a B and rotate.The hawser 106 that dots among the figure is walked around idle pulley 104a from an end of drum 102 and is passed the pulleys 74 that linkage component 38 outwards arrives understructures and driving actuator 64, at this place's hawser around repeatedly.Then, the hawser wraparound is passed connecting rod 38 around the edge arrival tensioner 114 of idle pulley 104b along drum 102.This configuration allows actuator to come pivot link parts 110 by the side that hawser 106 promotes required drum 102.

Fig. 5 A, 5B, 5C, 5D are other side cross-sectional, view of connecting rod 38, and shown example is linkage component 110 has turned to the end with respect to linkage component 112 a appearance.This motion can limit by a detent is provided on the motion path of drum 102.For example, shown in Fig. 5 A, can on drum 102, place an opening 118.A brake component 120, right cylinder for example can be connected on the linkage component 112 and is positioned at opening 118, and like this, brake component 120 will engage with the end of opening 118 so that the restriction to the motion of drum to be provided.

Fig. 6 A and 6B are respectively the backplan and the bottom perspective views of linkage assembly 38.Can be output to torsional freedom 52 in order to exert all one's strength, first end (dotting) of hawser 130 is wrapped on the pulley that is driven directly 76 of the actuator 66 in the understructure 46 and passes linkage assembly 38.Hawser 130 is on an idle pulley 132, around another idle pulley 134 and 136.Then, hawser 130 widdershins (shown in Fig. 6 a) on a rotating drum 138 and a point 140 (in other embodiments, 140 can be positioned at other places) locate with the drum link to each other.Second end of hawser 130 also links to each other with drum 138 at point 140 places, and it also can be by (shown in Fig. 6 a) widdershins around the remaining edges arrival pulley 142 of drum 138.It then is idle pulley 144 that hawser 130 is twining idle pulley 142 from second end, and wherein idle pulley 144 adjoins each other with idle pulley 134 and has identical rotation axis.Hawser 130 is then around idle pulley 146, and it is with idle pulley 132 adjacency and have identical rotation axis.Then, hawser 130 passes linkage component 38, and line 130 representative is all used at two ends, arrives the actuator 66 of understructure, at this place's hawser around the pulley that is directly driven by actuator 66 more than 76 time.

Be in operation, actuator 66 can rotate linear axis parts 40 and instrument 18 whereby along both direction barrel tumbler 138.When the axle of actuator when direction is rotated, first end that is twining the hawser 130 of pulley 136 is dragged, and makes drum rotate on corresponding direction around central point 170.When the axle of actuator when opposite direction is rotated, second end that is twining the hawser 130 of pulley 142 is dragged, and makes drum rotate on another direction around central point 170.

Output on the linear degree of freedom of inserting 50 in order to exert all one's strength, the pulley 72 of the direct driving of the actuator 62 of first end of hawser 160 (representing with dot-and-dash line in Fig. 6 a) from understructure 46 passes linkage assembly 38.Hawser 160 is twining idle pulley 162, next is idle pulley 164 and idle pulley 166.Then, first end 161 of hawser 160 links to each other around idle pulley 169 (shown in Fig. 7 a) and with linear axis parts 40.Second end 162 of hawser 160 links to each other with linear axis parts 40 at the another side of central point 170.Hawser 160 from second end around pulley 168, around pulley 172 adjacent with pulley 164 and that rotate along identical axle, around pulley 174 adjacent with pulley 162 and that rotate along identical axle.Then, hawser passes linkage assembly 38 and arrives the pulley 72 that is driven by actuator 62, and hawser twines repeatedly herein.

Be in operation, actuator 62 can rotate its driving wheel and correspondingly drag first end or second end of hawser 160 along both direction.If first end is dragged, go up the downward power of output at linear axis parts 40 (direction as shown in Figure 3), and if second end is dragged, output power upwards on the linear axis parts.

Fig. 7 A-7C is above-described linkage assembly 38, hawser and the extra cross-sectional perspective view of pulley, example the insertion degree of freedom 50 of mechanism.

Fig. 8 A and 8B are the cross-sectional perspective view and the front views of linkage assembly 38, have shown above-mentioned feature.

Therefore, mechanism of the present invention preferably provides four grounded actuator to provide power for instrument 18 on four degree of freedom.In order to make actuator ground connection, can utilize hawser that power is outputed in the long-range mechanical motion, just, the drum of rotation or mobile linear axis parts are away from drive pulley, drive unlike the capstan winch of standard.Pass inner three hawsers (six end points) that outwards arrive understructure of mechanical linkage and be bent to various paths around the idle pulley and their longitudinal axis; Yet this can not make hawser produce significant elongation.The axle A that abuts against together and close on the front and back rotation of six end arrangements of hawser is so that hawser is crooked minimum.For example, the length of six hawsers can be set to like this, and promptly their xsect roughly forms a circle around rotation axis A.

Though describe the present invention in conjunction with several preferred embodiments, can envision, for those skilled in the art and the people who reads and studied instructions of the present invention and accompanying drawing, to it change, modifications and changes are conspicuous.For example, the linkage component of device 25 can be taked a plurality of actual physical size and dimensions and still keep disclosed bar linkage structure.Similarly, also can use the omnidirectional mechanism of other types or the different mechanisms that a plurality of degree of freedom are provided, reduce inertia, friction and the recoil of system again in conjunction with the driving mechanism that is disclosed.A lot of devices also can be used for perceptual object on the degree of freedom that is provided the position and drive object along these degree of freedom.In addition, sensor and the actuator that is used in the changer system with desired functions can be taked various forms.Similarly, also can use being connected of other types that the function of wanting is provided between object and the actuator.In addition, used particular term only is in order to describe purpose clearly, not limit the present invention.

Claims (8)

1. device comprises:

The medical simulation device, the human body parts that this medical simulation device construction simulated for imitation, wherein, this medical simulation device construction is for receiving the insertion instrument by the opening in it; And

Interfacing equipment, this interfacing equipment is connected to this analogue means, and be configured to be connected to host computer, wherein, this main computer is configured to the executive software application program, this software application is modeled as the Medical Devices that simulated that are positioned at the human body parts that simulated with the insertion instrument in this analogue means, wherein, to this analogue means of small part in response to moving from the control signal of this host computer.

2. device as claimed in claim 1 also comprises the actuator that acting force is exported to this insertion instrument, and wherein, this acting force drives this insertion instrument on desired orientation.

3. device as claimed in claim 1, wherein, this insertion instrument can move on six-freedom degree with respect to this analogue means.

4. device as claimed in claim 1, wherein, this analogue means is connected to ground.

5. device as claimed in claim 1 also comprises pulley and hawser actuating system, and it is connected to this actuator, and it is separated by a distance to orientate this actuator of locating with ground as, and this actuating system is configured to produce acting force at a distance at this actuator place.

6. device as claimed in claim 1, wherein, this analogue means also comprises:

Base;

Be connected to the linkage assembly of this base, this link configuration is for being rotated with respect to this base; And

Be connected to the link member of this linkage assembly, wherein, this link member can be rotated with respect to this linkage assembly, and this link member is configured to receive this insertion instrument.

7. device as claimed in claim 1, wherein, this insertion instrument is first simulation tool, and this analogue means is configured to utilize this first simulation tool to receive second simulation tool, and this analogue means also is configured to the positional information of this first simulation tool of perception and second simulation tool.

8. device as claimed in claim 7, wherein, this analogue means is configured to the positional information of while perception first simulation tool and second simulation tool.

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