公开(公告)号：WO1996018942A1

公开(公告)日：1996-06-20

申请号：PCT/US1995016360

申请日：1995-12-14

申请人： MOORE, Robert, S. ,  HARTHAN, Lewis, John, III ,  LIVEZEY, Darrell, L.

IPC分类号： G06F03/00

CPC分类号： G06F3/016 ,  B25J9/1689 ,  G05B2219/37175 ,  G05B2219/40131 ,  G05B2219/40137 ,  G05B2219/41301 ,  G05B2219/41304 ,  G06F3/011 ,  G09B23/285

摘要： A system for producing realistic tactile feedback forces in a tool operation simulator. Sensors (25) sense the location and direction of movement of a simulated tool (11) in a simulated landscape environment to produce electrical signals representing three-dimensional location and direction of movement. These electrical signals are processed by re-programmable processors (28) to produce control signals (30) that are fed to pneumatic bi-directional piston-type actuators (14) to impart realistic forces similar to forces that would be encountered in corresponding real-life movement of the simulated tool (11).

摘要翻译： 一种用于在工具操作模拟器中产生逼真的触觉反馈力的系统。 传感器（25）感测模拟景观环境中模拟工具（11）的位置和方向，以产生表示三维位置和运动方向的电信号。 这些电信号由可再编程处理器（28）处理，以产生供给气动双向活塞式致动器（14）的控制信号（30），以传递与在相应的实时状态下将遇到的力相似的逼真力， 模拟工具的生命运动（11）。

公开(公告)号：WO1996016389A1

公开(公告)日：1996-05-30

申请号：PCT/US1995014368

申请日：1995-11-17

申请人： STANEFF, John, E., Jr. ,  MOORE, Robert, S. ,  HARTHAN, Lewis, John, III ,  LIVEZEY, Darrell, L. ,  JONES, Robert, F. ,  LUDKE, David, L. ,  CATALLO, Leo, R.

IPC分类号： G09B23/28

CPC分类号： G09B23/285

摘要： An interactive medical procedure simulation system having a mannequin (21) with life-like qualities of appearance, feel and touch. The mannequin is equipped with one or more trocars (23, 24) into which there are selectively inserted simulations of conventional medical procedure tools (25, 26) for diagnosis and treatment. Provision is made for creating and displaying (30) seamless representations or realistic real-life internal landscapes which are changeable to track changes in positions of simulated endoscopes and medical tools. Realism is enhanced through the use of pneumatically operated force feedback so as to enhance realistic feel for simulated procedures including tugging, tearing, cutting, clipping, stapling, pulling, pushing, grasping and probing.

摘要翻译： 具有人体模特（21）的具有外观，感觉和触感的生活质量的交互式医疗程序模拟系统。 人体模型配备有一个或多个套管针（23,24），其中有选择性地插入用于诊断和治疗的常规医疗程序工具（25,26）的模拟。 规定用于创建和显示（30）无缝表示或现实生活中的内部景观，这些风景可以变化以跟踪模拟内窥镜和医疗工具位置的变化。 通过使用气动力反馈来增强现实主义，从而提高模拟程序的逼真感，包括牵引，撕裂，切割，裁剪，装订，拉动，推动，抓取和探测。