Simulation device for simulating penetration process of e.g. needle, has drive device that is controlled based on instrument current position and electrical force signals so that haptic sensation is developed and brought into real body

摘要

The device has a position determining device (7) to determine a current position of an instrument (2) with respect to a handle (1), and to produce a current position signal. A force determining device (6) produces an actual electrical force signal, and a drive device (3 - 5) defines adjustment of the instrument with respect to the handle. The drive device is controlled based on the current position and force signals in such a manner that a counter-pressure i.e. haptic sensation, is developed during handling the instrument. The developed sensation is brought into a real body.