公开(公告)号：US08956165B2

公开(公告)日：2015-02-17

申请号：US12864340

申请日：2009-01-26

申请人： Sergei Kurenov ,  Juan C. Cendan ,  Jorg Peters ,  Thomas M. Beaver ,  Sukitti Punak ,  William Cance ,  Kfir Ben-David

发明人： Sergei Kurenov ,  Juan C. Cendan ,  Jorg Peters ,  Thomas M. Beaver ,  Sukitti Punak ,  William Cance ,  Kfir Ben-David

IPC分类号： G09B19/00 ,  G09B23/28

CPC分类号： G09B23/285

摘要： Devices and methods are provided for combining the handle of a surgical instrument with a force feedback generator, able to create resistance to motion similar to that encountered in a real operating environment. The working end of the surgical instrument is recreated in a virtual environment and manipulated by the modified handle through the force feedback generator. Actions of the instrument handle modify a model and display of the virtual environment and transmit a haptic response back to the handle. The devices and methods provide a means for repeatedly performing maneuvers that accurately simulate the actual instrument, but in the virtual environment. The virtual environment is modeled to accurately simulate the use of the instrument including manipulation of and collisions with other virtual objects, such as surgical thread or internal tissues. Training and assessment tools are also provided that coach or assess a user's proficiency with the instrument.

摘要翻译： 提供的装置和方法用于将手术器械的手柄与力反馈发生器组合，能够产生类似于在实际操作环境中遇到的运动的阻力。 手术器械的工作端在虚拟环境中重新创建，并通过力反馈发生器由改进的手柄操纵。 仪器句柄的动作修改模型并显示虚拟环境，并将触觉响应发送回句柄。 这些设备和方法提供了重复执行准确模拟实际仪器但在虚拟环境中的机动的手段。 虚拟环境被建模以准确地模拟仪器的使用，包括与其他虚拟对象（例如外科手术线或内部组织）的操纵和碰撞。 还提供培训和评估工具，指导或评估用户对仪器的熟练程度。