| 摘要 |
Disclosed are an operation training simulator including a control unit which shows virtual reality images relating to an operation on a display using an instrument unit and displacement information of the instrument unit. The instrument unit according to the present invention comprises: a manipulation rod which corresponds to an operation tool inserted into the human body and moves at least one freedom degree according to a user's operation; a displacement sensor which detects displacement of the manipulation rod; a reaction force generating means which provides reaction force to the manipulation rod according to the haptic signal transmiited by the control unit: and a force torque sensor which detects the reaction force applied to the manipulation rod and transmitts the reaction force to the control unit. According to the invention, precise cotrol of force is possible by giving, through using the force torque sensor, a real-time feedback of the reaction force which the user feels when manipulateing the instrument unit. Therefore, since the feeling which the user receives when using the simulator can be realized similar to an actual operation, training effects can be maximized. |
