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    • 1. 发明申请
    • Virtual OP simulator
    • 虚拟OP模拟器
    • US20060073458A1
    • 2006-04-06
    • US11232359
    • 2005-09-21
    • Andre EhrhardtKlaus IrionBjoern Speiser
    • Andre EhrhardtKlaus IrionBjoern Speiser
    • G09B23/28
    • G09B23/285
    • The invention relates to a virtual OP simulator (10) for training for minimal-invasive operations, in particular for endourological interventions, having a simulation calculator unit (12), at least one instrument (40), at least one instrument input unit (30) for picking up the instrument (40), with the instrument input unit (30) allowing and recording movement of the instrument (40) in a predetermined number of degrees of freedom, and a force feedback unit (60) which is associated with the instrument input unit (30) and applies variable forces to the instrument (40) directly or indirectly via the instrument input unit (30). A monitoring control unit (20) is provided, which is connected to the simulation computer unit (12) and to the instrument input unit (30), with the monitoring control unit (20) having a first interface (24) which provides communication of parameters between the monitoring control unit (20) and the simulation computer unit (12) at a speed in the region of the video framing rate, and having a second interface (26) which provides communication of parameters with the instrument input unit (30) at a speed which is higher than, in particular a multiple of, the video framing rate, and with the instrument input unit (30) allowing at least four degrees of freedom, detecting movements of the instrument (40) within these degrees of freedom, supplying corresponding signals to the monitoring control unit (20) and receiving signals for the force feedback unit (60), at least some of which are generated by the simulation computer unit (12).
    • 本发明涉及一种用于训练最小侵入性操作的虚拟OP模拟器(10),特别是用于内科学干预,具有模拟计算器单元(12),至少一个仪器(40),至少一个仪器输入单元(30) ),用于拾取所述仪器(40),所述仪器输入单元(30)允许和记录所述仪器(40)以预定数量的自由度的运动;以及力反馈单元(60),所述力反馈单元 仪器输入单元(30),并通过仪器输入单元(30)直接或间接地向仪器(40)施加可变力。 提供了一个监视控制单元(20),其连接到模拟计算机单元(12)和仪器输入单元(30),监视控制单元(20)具有第一接口(24) 监视控制单元(20)和模拟计算机单元(12)之间的参数以视频成帧速率区域的速度,并且具有提供与仪器输入单元(30)的参数通信的第二接口(26) 以高于视频成帧速率的速度,并且通过允许至少四个自由度的仪器输入单元(30)检测仪器(40)在这些自由度内的运动, 向所述监视控制单元(20)提供相应的信号并且接收所述力反馈单元(60)的信号,所述力反馈单元(60)中的至少一些由所述模拟计算机单元(12)产生。