Haptic impression producing device for laparoscopic surgical simulation, has upper and lower joints fastened at pivot and working points, where Cartesian movements of kinematic device are transformed into rotatory and translatory movements

摘要

The device has an upper universal joint fastened at a pivot point, and a lower universal joint fastened at a working point (9), where the upper joint is coupled to a kinematic device (1). Cartesian movements of the kinematic device are transformed into rotatory and translatory movements. The lower universal joint carries a tool, which converts supplementary functions of exchangeable handle pieces. The tool applies torque on the handle pieces in degrees of freedom, where the tool ensures a fast exchange of the handle pieces for simulation of different laparoscopic instruments.