| 摘要 |
A user interface for a tactile feedback endoscopic simulation executed on a computer system (3) comprising an instrument (5) having a handle (7) and a tubular member (8), a frame (10), a support arrangement (11), being rotatably arranged in relation to said frame, and being arranged to receive said tubular member along an axis A. The support arrangement comprises two friction wheels (19a, 19b), in frictional contact with opposing sides of said tubular member and a controller (9) arranged to receive a desired tactile feedback from said computer system and a sensor signal from said force sensor representative of an applied force, and arranged to control an actuator to operate said friction wheels to provide said desired tactile feedback. The system can provide a resistance more closely corresponding to the resistance felt during actual surgery, down to no resistance or even a pull on the instrument. |
