Title:
カテーテル処置用シミュレーション装置
Document Type and Number:
Japanese Patent JP4161061
Kind Code:
B2
Abstract:
An actuator is used in a surgical simulation system that simulate the catheterization of cardiac or peripheral vasculature. The simulation system provides haptic feedback to a user of a catheter or similar elongated object coupled to the system. The actuator includes sensors that generate sense signals indicative of axial translation and rotation of the object by the user. The sense signals are provided to a workstation executing a simulation program. In response to the sense signals, the workstation calculates axial forces and torques to be applied to the object as haptic feedback to the user; and generates drive signals representing the calculated axial forces and torques. Mechanisms within the actuator respond to the drive signals by applying corresponding axial force and torque to a rigid tube that is mechanically coupled to the object. One embodiment of the actuator includes a carriage assembly for holding the rigid tube between a pair of opposed pinch wheels. The carriage assembly rotates to rotate the object about its longitudinal axis, and the pinch wheels rotate to translate the object axially. Another actuator embodiment includes a first bearing mounted on a rotary actuator and a second bearing mounted on a sliding linear actuator. The rigid tube has a square cross section for secure engagement by the second actuator. The linear actuator grips the tube and allows it to freely rotate about its longitudinal axis.
Inventors:
Jeffrey Michael Wendland
Frederick Marshall Morgan
Frederick Marshall Morgan
Application Number:
JP10169699A
Publication Date:
October 08, 2008
Filing Date:
April 08, 1999
Export Citation:
Assignee:
Mitsubishi Electric Research Laboratories, Inc.
International Classes:
A61M25/01; G09B9/00; A61M25/00; B25J7/00; F15B15/10; G09B23/28
Domestic Patent References:
| JP7184903A | ||||
| JP60001746Y2 |
Foreign References:
| WO1996039944A1 | ||||
| US5623582 | ||||
| WO1996016397A1 | ||||
| WO1996022591A1 | ||||
| WO1994026167A1 | ||||
| WO1995010080A1 |
Attorney, Agent or Firm:
Michiharu Soga
Yutaka Ikeya
Hidetoshi Furukawa
Suzuki Kenchi
Masahisa Hase
Koji Fukui
Yutaka Ikeya
Hidetoshi Furukawa
Suzuki Kenchi
Masahisa Hase
Koji Fukui