| 摘要 |
The invention relates to a device for simulating a rod-shaped surgical instrument (1), in particular for simulating an endoscopic instrument, said device having a fixed frame. The instrument (1) is provided with a handle (3) for the operator. At least two drive blocks (13, 14) are used for the back-coupling of forces. The instrument is guided in a virtual trocar and has at least one force sensor (12). The handle (3) is connected to the frame by means of the virtual trocar, the drive blocks (13, 14) and the force sensor (12). At least one force sensor (12) is located between a first drive block (13) that is connected to the handle (3) and a second drive block (14) that is connected in a fixed manner to the frame, in such a way that a reduction of the space requirement for the instrument and an improved measured value detection for the pivoting motion of said instrument are achieved simultaneously. |
