| 摘要 |
The present invention deals with a method of simulating a manual interventional operation by a user on the internal system of a body with at least two real instruments (3, 4, 5), with a device (6) comprising a longitudinal track (8), a plurality of moveable carriages along said track, each carriage having clamping means, means for rotating and moving longitudinally said real instrument, visuals means, processing means for simulating a medical procedure and providing visual elements on said visual means and feed back means (18) for receiving and transmitting to the user hand (19) a feed back force from said real instrument with respect to simulation characteristic. The method comprises the steps of recognizing a real instrument (23) to be fit within said clamping means, said real instrument within said clamping means to be moved longitudinally and rotated by the user and simulating said interventional operation after modelling (22) said internal system with a mesh geometry.
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