Actuator assembly for actuation of a set of concentric catheters or similar tubular objects

摘要

An actuator assembly is used in a surgical simulation system that simulates the catheterization of cardiac or peripheral vasculature. The simulation system provides haptic feedback to a user of a set of catheters or similar tubular objects coupled to the system. The actuator assembly is coupled to the objects, and also to a workstation executing a surgical procedure simulation program. The actuator assembly has a set of spaced-apart actuators, each actuator being mechanically coupled to a corresponding object through a rigid tube used as an extension of the object within the actuator assembly. Each actuator in the assembly includes sensors that generate sense signals indicative of axial translation and rotation of the object by the user. The sense signals are provided to the workstation. In response, the workstation calculates axial forces and torques to be applied to the object as haptic feedback to the user, and provides drive signals to the actuator assembly. <IMAGE>