| 摘要 |
<p>A haptic user interface device (1) for a surgical simulation system (2), comprising a frame (11) having a fixed base (12), a neck portion (15) rotatable around a first axis (A) in relation to the base (12), and a suspension portion (16) rotatable around a second axis (B) in relation to the neck portion (15), an instrument (10) having a rigid shaft (21) suspended by the suspension portion (16) so as to be pivotable around the first axis (A) and the second axis (B), a first and second actuator (14, 17) mounted on the frame (11) and arranged to provide force feedback to a user when rotating the instrument (10) around the first axis (A) and the second axis (B). The first and second actuators are mounted on the neck portion (15).</p> |
