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    • 4. 发明申请
    • APPARATUS FOR SIMULATING INSERTION OF AN ELONGATED INSTRUMENT INTO A STRUCTURE AND MEDICAL INSERTION SIMULATOR
    • 用于模拟插入结构和医用插入模拟器的仪器的装置
    • WO2017143445A1
    • 2017-08-31
    • PCT/CA2017/050232
    • 2017-02-23
    • CAE HEALTHCARE CANADA INC
    • LAVIGUEUR, MaximePICARD, AlexandreMALLACI, GiuseppeCARON, Francois
    • G09B23/28A61B90/00A61B34/10
    • G09B23/285A61B34/10A61B2017/00707G09B9/00
    • The present disclosure relates to an apparatus for simulating insertion of an elongated instrument into a structure. The apparatus comprises a casing having an aperture for receiving a distal end of the elongated instrument therethrough and a longitudinal guide fixedly mounted in the casing. The apparatus has a carriage for mounting the distal end of the elongated instrument, the carriage being slidably mounted onto the longitudinal guide for translation therealong according to a translation of the elongated instrument through the aperture of the casing. The apparatus comprises a carriage position sensing element for sensing a longitudinal position of the carriage and a feedback force actuator for applying an adjustable resistive force to a translation of the carriage on the longitudinal guide according to the sensed position of the carriage and resistance characteristics of the structure. The present disclosure also relates to a medical insertion simulator comprising such an apparatus.
    • 本公开涉及一种用于模拟细长器械插入结构中的装置。 该设备包括具有用于接收穿过其中的细长器械的远端的孔的壳体和固定地安装在壳体中的纵向引导件。 该设备具有用于安装细长器械的远端的滑架,该滑架可滑动地安装到纵向引导件上,以便根据细长器械穿过外壳的孔口的平移而沿其平移。 该设备包括用于感测滑架的纵向位置的滑架位置感测元件和用于根据感测到的滑架的位置和滑架的电阻特性将可调阻力施加到滑架在纵向导轨上的平移的反馈力致动器 结构体。 本公开还涉及包括这种设备的医疗插入模拟器。