MECHANISM FOR EFFORT GENERATION ON MEDICAL INSTRUMENT SIMULATOR Russian patent published in 2017 - IPC A61B17/00 G09B23/28 

FIELD: medicine.

SUBSTANCE: invention relates to a device providing reverse tactile sensations when manipulating a medical instrument simulator and can be used in medical simulation trainers for endoscopic surgery, during virtual medical intervention modelling, where the surgeon performs training surgery in a simulated environment, using medical instruments simulators similar to real instruments. The mechanism for force generation on a medical instrument simulator contains devices for linear, rotational and angular movements of the instrument with sensors for instrument movements tracking. The device for linear movement of the instrument is made in the form of a linear electromagnetic motor with a medical instrument inside with magnets located therein. Device of rotational and angular movement of the instrument is implemented as a basis on which the stator of the first engine is fixed, with a bracket attached to its rotor with the second engine stator fixed thereon, with a linear solenoid engine attached to the rotor and coupled with an engine control unit. The first engine and the second engine are solenoid engines with a controlled stator magnetic field and are connected to the engine control unit.

EFFECT: invention allows to generate a uniform force and to keep the mechanism freedom axes in the given position, excluding the phenomena of uneven force influence on the medical instrument simulator during operation.

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