• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A medical procedure simulator (1) comprising a handpiece (30) configured to be held in a hand of a user and to be manipulated by the user in a workspace in real space, and a linkage (40) controlled by a computer (80) that is configured to simulate a medical procedure or treatment. The linkage (40) comprises a main link (41), a first crank (42), a second crank (44) and a third crank (46). A first actuator (47) drives the first crank (42), a second actuator (48) drives the second crank (44), a third actuator (49) drives the third crank (46). The first crank (42) is coupled directly to the main link (41). The second crank (44) is coupled to the main link (41) via a first connecting rod (43). The third crank (46) is coupled to the main link (41) via a second connecting rod (45). The handpiece (30) is connected to an extremity of the main link (41) by a mechanical joint. The first crank (42) is arranged to actuate the main link (41) in an axial direction, the second crank (44) is arranged to actuate the main link (41) in a first transverse direction, and the third crank (46) is arranged to actuate the main link (41) in a second transverse direction different from the first direction.
    公开号:DK201970503A1
    申请号:DKP201970503
    申请日:2019-08-09
    公开日:2021-03-19
    发明作者:Bode Dyon
    申请人:Simtolife B V；
    IPC主号:
    专利说明:

    TITLEAPPARATUS FOR SIMULATING MEDICAL PROCEDURES AND METHODS
    TECHNICAL FIELD The disclosure relates to apparatuses and methods for simulating medical procedures and methods, in particular apparatuses and methods that use virtual, mixed and/or augmented reality to simulate the activities of a dentist, a dental/oral/ maxillofacial surgeon, dental hygienist or a dental therapist.
    BACKGROUND Dentistry, also known as Dental and Oral Medicine, is a branch of medicine that consists of the study, diagnosis, prevention, and treatment of diseases, disorders, and conditions of the oral cavity, commonly in the dentition but also the oral mucosa, and of adjacent and related structures and tissues, particularly in the maxillofacial (jaw and facial) area. Dentistry encompasses practices related to the oral cavity, as performed by dentists, dental surgeons, oral surgeons, maxillofacial surgeons, dental hygienists and dental therapists in the form of dental procedures and treatments. Dental students require facilities for training, and using real patients has obvious drawbacks. Dental simulators for simulating dental procedures are known in the art. These simulators are used to train dentistry
    DK 2019 70503 A1 2 students thereby reducing the need for training on plastic phantom heads with plastic phantom teeth (which do not provide an accurate simulation, do not allow for objective assessment or tracking of work, and are not environment-friendly) and reducing the need for training on real patients.
    Known dental simulators comprise a computer which controls the simulation and hosts a virtual environment, a display screen displaying the simulated environment, and one or two handpieces (30, 61) connected to the computer to provide input.
    The simulated environment comprises the subject, a set of virtual teeth, virtual versions of tools controlled by the handpieces, as well as a virtual version of the handpieces themselves.
    The tools may be surgical instruments (scalpels, syringes, etc.) or other devices (such as mirrors or probes). The handpieces are connected to sensors which determine their position and orientation, which is used to control (display) the position of the tools in the virtual environment.
    Typically, one of the handpieces is mounted on a haptic feedback system through which the computer controls the forces the user feels through the handpiece.
    A static U-shaped rail or the like serves as a handrest for the hands/fingers of the dentistry student (user). In real dental procedures or treatments, the dentist will typically rest his fingers on the patient/s teeth and jaw, and a simulation with a single fixed U-shaped rail in the known dental simulator is therefore not a realistic simulation.
    The visual display screen is disposed between the user's eyes and the handpieces and the rail and presents a virtual environment that shows a virtual set of teeth on a virtual
    DK 2019 70503 A1 3 jaw. The known simulator comprises a computer which controls the simulation and hosts a virtual environment, a display screen displaying the simulated environment, and one or two handpieces which are connected to the computer to provide an input/output. The simulated environment comprises the subject, as well as virtual versions of tools controlled by the handpieces. The tools may be surgical instruments (scalpels, syringes, etc.) or other devices (such as mirrors or probes). The handpieces are connected to sensors which determine their position, which is used to control the position of the tools in the virtual environment. One of the handpieces is mounted on a haptic feedback system which allows the computer to control the forces the user feels through the handpieces, making a more realistic simulation possible.
    Thus, a virtual version of the handpieces is displayed on the display screen, but the user cannot see his own fingers or hands, which is a drawback since it denies the user an important visual input.
    SUMMARY It is an object to provide a medical simulator that overcomes or at least reduces at least one of the problems mentioned above.
    The foregoing and other objects are achieved by the features of the independent claims. Further implementation forms are apparent from the dependent claims, the description, and the figures.
    DK 2019 70503 A1 4 According to a first aspect, there is provided a medical procedure simulator comprising a handpiece configured to be held in a hand of a user and to be manipulated by the user in a workspace in real space, and a linkage controlled by a computer that is configured to simulate a medical procedure or treatment, the linkage comprising a main link, a first crank, a second crank and a third crank, a first actuator driving the first crank, a second actuator driving the second crank, a third actuator driving the third crank, the first crank being coupled directly to the main link, the second crank being coupled to the main link via a first connecting rod, the third crank being coupled to the main link via a second connecting rod, the handpiece being connected to an extremity of the main link by a mechanical joint, the first crank being arranged to actuate the main link in an axial direction, the second crank being arranged to actuate the main link in a first transverse direction, and the third crank being arranged to actuate the main link (41) in a second transverse direction different from the first direction.
    The linkage of the medical procedure simulator is uncomplicated and therefore reliable and inexpensive since it contains a relatively low number of components.
    Further, the linkage is suitable to provide a cuboid workspace with the sides of the workspace being vertical and horizontal.
    In a first possible implementation form of the first aspect the first crank is connected to the main link at a first axial position, the first connecting rod is coupled to the main link at a second axial position between the extremity and the
    DK 2019 70503 A1 first axial position and the second connecting rod is coupled to the main link at a third axial position between the extremity and the first position, the second and third axial position preferably being substantially identical. 5 In a second possible implementation form of the first aspect the main link comprises a three dimensional force sensor for sensing forces applied by the user to the handpiece in three dimensions, the three dimensional force sensor being disposed between the extreme position and the second and/or third axial position, and the three dimensional force sensor preferably being an integral part of the main link.
    In a third possible implementation form of the first aspect the first, second and/or third cranks are coupled to a rotary position sensor or encoder.
    In a fourth possible implementation form of the first aspect the first, second and/or third actuators are rotary actuators.
    In a fifth possible implementation form of the first aspect the respective rotation axes of the first, second and third cranks are arranged orthogonally relative to one another.
    In a sixth possible implementation form of the first aspect the first connecting rod extends substantially horizontally, the second connecting rod extends substantially vertically, and the rotation axis of the fist crank extends substantially vertically.
    In a seventh possible implementation form of the first aspect
    DK 2019 70503 A1 6 the computer is configured to simulate a medical procedure or treatment through haptic feedback, preferably haptic force control feedback, with the linkage and through visual feedback with a display screen.
    In an eighth possible implementation form of the first aspect the medical procedure simulator comprising a reference, wherein the first, second and third cranks are mounted on the reference (51).
    In a ninth possible implementation form of the first aspect the medical procedure simulator comprises a reference, wherein the linkage provides at least six independent degrees of freedom for the handpiece relative to the reference.
    In a tenth possible implementation form of the first aspect the linkage connects the handpiece to the reference. In an eleventh possible implementation form of the first aspect the handpiece comprises an inertial measurement unit, the inertial measurement unit preferably being configured to create orientation data indicative of the rotational orientation of the handpiece, preferably the rotational orientation of the handpiece in real space and/or relative to the reference. In a twelfth possible implementation form of the first aspect the free end of the first crank is coupled to the main link, preferably by a mechanical joint that offers relative movement between the main link and the first crank with at least two degrees of freedom, such as for example a universal joint.
    DK 2019 70503 A1 7 In a thirteenth possible implementation form of the first aspect the second transverse direction is substantially perpendicular to the first transverse direction.
    In a fourteenth possible implementation form of the first aspect the computer is configured to simulate the medical procedure or treatment by using the signal from the three dimensional force sensor as input and by controlling the velocity of the extremity accordingly.
    According to a second aspect there is provided a medical procedure simulator comprising a handpiece coupled to a haptic force feedback system that provides haptic force feedback, said force feedback system comprising at least one actuator, said control system comprising a virtual model configured to calculate a virtual force and a force sensor configured to sense force applied to said handpiece, said virtual model being in receipt of a signal representative of the velocity of the handpiece, a summing point summing said virtual force and said sensed force, a lead-lag compensator receiving the output of said summing point, a PI or PID controller receiving the output of said lag-lead compensator, a motor drive in receipt of a velocity command from said PI or PID controller, said at least one actuator being electrically driven by said motor drive.
    By using of a lead-lag compensator in a medical procedure simulator, high frequencies resulting from contact instability or system resonances are removed from the input
    DK 2019 70503 A1 8 signal to the PI or PID controller resulting in a more stable smooth operation of the medical procedure simulator with a realistic feel.
    In a possible implementation of the second aspect the virtual model is in receipt of a signal that is indicative of the orientation of said handpiece 30.
    In another possible implementation of the second aspect the virtual model is in receipt of a signal that is indicative of the rotational speed of the virtual burr. These and other aspects will be apparent from the embodiment (s) described below.
    BRIEF DESCRIPTION OF THE DRAWINGS In the following detailed portion of the present disclosure, the aspects, embodiments and implementations will be explained in more detail with reference to the example embodiments shown in the drawings, in which: Fig. 1 is an elevated view of a dental procedure simulator according to an embodiment, Fig. 2 is a side view of the dental procedure simulator of Fig. 1 in a first height; Fig. 3 is a side view of the dental procedure simulator of Fig. 1 in a second height that is lower than the first height; Fig. 4 shows a frontal view of a display housing of the dental procedure simulator of Fig. 1,
    DK 2019 70503 A1 9 Fig. 5. is a sectional view through the display housing of Fig. 4, also illustrating a workspace, the eye of a user, and a vision space, Fig. 6 is an elevated view from a user perspective through a semi-transparent mirror in the display housing to a workspace of the dental procedure simulator of Fig. 1, also showing a virtual environment through reflection from the semi- transparent mirror, Fig. 7 is an image of a mixed reality virtual environment displayed by the dental procedure simulator of Fig. 1, Figs. 8 to 11 are elevated views of specific phantom jaws that are used in the dental procedure simulator of Fig. 1, Fig. 12 is an elevated view of a phantom head and its mount system, using a lower specific phantom jaw and a specific phantom upper jaw, Fig. 13 is a side view of the phantom head of Fig. 12, Figs. 14 and 15 are elevated views of generic phantom jaws that are used in the dental procedure simulator of Fig. 1, Fig. 16 is an elevated view of the phantom head of Fig. 12, illustrating three axes of rotation of the phantom had relative to the dental procedure simulator, with generic phantom jaws installed, Figs. 17 and 18 are elevated views of the phantom head of Fig. 16 illustrating rotation about the Z axis and the X axis, Figs. 19 and 20 are a side views of the phantom head of Fig.
    12 illustrating different positions of the phantom lower jaw relative to the phantom upper jaw, Figs. 21 and 22 are side views of the phantom head of Fig. 16 illustrating rotation about the Y-axis,
    DK 2019 70503 A1 10 Figs. 23 to 26 are elevated and isometric views, respectively of an embodiment of a linkage with its drive system and a handpiece that is connected to the linkage, Fig. 27 is a sectional view through a handpiece according to an embodiment, Figs. 28 and 29 are side views of the handpiece of Fig. 27, Fig. 30 is an elevated view of a dental procedure simulator according to another embodiment that comprises a secondary tool, Fig. 31 is an elevated view of an embodiment of the secondary tool, Figs. 32 and 33 are end and side views, respectively of the secondary tool of Fig. 31, Fig. 34 is a schematic representation of the dental procedure simulator of Fig. 1 showing also an eye of a user and a vision space, and Fig. 35 is a schematic representation of an embodiment of a control system that can be used in the dental procedure simulator.
    DETAILED DESCRIPTION Referring to the drawings, and particularly to Figs. 1 to 7 and 34 which show a first embodiment of a medical procedure simulator 1, in particular a dental procedure simulator 1 for simulating dental procedures and treatments. The medical procedure simulator 1, is intended to be used to train the skills and competences of medical professionals or students. In case of a dental procedure simulator 1, the dental procedure simulator is intended to be used to train the skills and competences of dentists, dental surgeons, oral surgeons,
    DK 2019 70503 A1 11 maxillofacial surgeons, dental hygienists and dental therapists.
    The users that undergo training with the dental procedure simulator can be students or professionals.
    The dental procedure simulator 1 generally includes a first handpiece 30, in this embodiment a first handpiece 30 that represents a dental drill handle, a base 2, in this embodiment a base with a lower housing that houses a computer 80, a post 3, in this embodiment a height adjustable column, a main housing 4 that houses a linkage 40 to which the first handpiece 30 is connected, a phantom head 10, and a support arm 5 supporting a display housing 6. The base 2 is in an embodiment a wheeled base for allowing the medical procedure simulator 1 to be easily rolled by a user to another position.
    The post 3 extends from the base 2 to the main housing 4 and supports the main housing 4 above the base 2 with a distance between a substantially flat bottom of the main housing 4 and the base 2 to create a space R between the substantially flat bottom and the base 2. The post 3 is disposed laterally offset relative to the base 2 and relative to the substantially flat bottom to allow the space R to be accessible from all sides (except the side where the post 3 is arranged). In an embodiment the post 3 extends from a position adjacent a lateral side (front side) of the base 2 to a position adjacent a lateral side (front side) of the main housing 4. The space R between the base 2 and the flat bottom is an empty space R only intersected by the post 3. The space R is accessible from all lateral directions except where access is barred by the post 3.
    DK 2019 70503 A1 12
    In an embodiment (not shown) the dental procedure simulator 1 comprises two or more posts 3 which are all disposed laterally offset to one and the same side of the base 2 and of the main housing 4. In the shown embodiment the main housing 4 is only supported by one post 3. The space R is open to the environment except where the space R is shielded by the base 2, the substantially flat bottom, or the post 3. The height of the main housing 4 is adjustable as indicated by the double lined arrows in Figs. 2 and 3 by operation of the post 3, that in an embodiment is motorized, e.g. by an electric linear actuator.
    A phantom head 10 is suspended from the front side of the main housing 4 and the display housing 6 is suspended from the main housing 4 by a support arm 5, so that the phantom head 10 and the display housing 6 as well as the first handpiece 30 move in unison with the main housing
    4 when the height of the main housing 4 is adjusted.
    The main housing 4 has a substantially flat bottom that together with the height adjustability allows the main housing 4 to be arranged over a worktop or desktop 85, as shown in Fig. 2, thereby saving valuable training room space.
    Fig. 3 shows the main housing in a lower position.
    The height adjustability also allows the working height of the dental procedure simulator 1 to be adjusted to the individual user.
    The medical procedure simulator 1 comprises a lower housing in which a computer 80 is arranged, together with power supply for the computer and the other electrical components of the
    DK 2019 70503 A1 13 medical procedure simulator 1. In an embodiment, the medical procedure simulator 1 comprises more than one computer.
    The computer 80 a has a memory and a processor.
    The processor is arranged to execute software stored on the memory, in particular software configured to simulate a medical procedure or treatment.
    The computer 80 is connected to a display screen 9, a model in a workspace W, a linkage 40 mounted to the main housing 4 and to the first handpiece 30 that is also arranged in workspace W.
    The linkage 40 (described in detail below with reference to Figs. 23 to 26) is mechanically connected to the first handpiece 30. The workspace W is a three-dimensional space in the real world and the first handpiece 30 can be manipulated by a user within the space without experiencing constraints from the linkage 40 (constraints caused by the range in the orthogonal directions in real space of the extremity of the linkage to which the first handpiece 30 is connected being limited). The model represents part of the subject (for example a phantom upper jaw 13 and lower jaw 14 with or without a set of phantom teeth and with or without a phantom head 10) and provides the necessary mechanical environment for the medical procedure or treatment to take place.
    For example, the surgeon/dentist can rest his hands on the phantom jaws/teeth/head 10,13,14,22 during the procedure.
    The velocity of the handpiece 30 is adjusted in response to the forces the user applies to the first handpiece 30 and the
    DK 2019 70503 A1 14 interaction of the virtual drill 30’ with a virtual tooth of a virtual model of a Jaw with teeth 29. The virtual environment includes algorithms for determining how the velocity of the virtual drill 30’ should change in response to the sum of the x,y,z forces applied by a user on first handpiece 30 (from 3DOF sensor 50) and any reaction forces from virtual contact of the virtual drill or handpiece 30’ with a virtual tooth. The virtual environment uses for some aspects Newtonian physics (i.e. Force = spring constant x deflection) to model the reaction forces between the virtual drill 30’ and the virtual tooth, whilst changes in velocity of the handpiece 30 are determined using a standard PID control loop. The virtual tooth is assigned a hardness and rigidity. The rigidity correlates to the spring constant a tooth provides when contacted and the hardness correlates to how much work a virtual drill must do in order to drill away a volume of the virtual tooth. The position of the real drill (first handpiece) 30 is used to determine whether there is contact with the virtual tooth.
    Once the virtual environment calculates the virtual force acting at the virtual drill 307, it commands this force to the standard PID control loop that controls the velocity of the actuators (described in detailed further below) in the system to change the real world velocity of the first handpiece 30. The user senses the movement of the first handpiece 30. While the velocity of the first handpiece 30 is controlled by the dental procedure simulator 1, the orientation of the first handpiece 30 is controlled by the user. The system measures the orientation of the first handpiece 30 as controlled by a user, and in response updates
    DK 2019 70503 A1 15 the orientation of the virtual drill 30’ in the virtual environment. The movably suspended phantom head 10 is used to adjust the orientation of the virtual environment shown on display 9. The orientation of the phantom head 10 can be manually adjusted and orientation of the virtual model is adjusted accordingly, using sensors coupled to the computer 80 that measure rotation of the phantom head 10. Thus, the phantom head 10 and virtual phantom head/ or only jaws are co-located and linked. When the user turns the real phantom head 10 the virtual head rotates in the scene. The phantom head 10 is an intuitive control for the virtual model orientation.
    The computer 80 provides an interface to the user for selecting different virtual environments procedures and treatments to be simulated and running various training software applications. The training applications monitor the interaction of a user with the virtual environment and first handpiece 30 and measure various criteria to evaluate the performance of a user.
    Referring now in particular to Figs. 4 to 7 the visual housing 6 is provided with the display screen 9 that is disposed towards the rear of the display housing 6. A viewing opening or window 8 in the upper side of the display housing 6 towards the front end of the display housing 6 allows a user to view a partially transparent reflective element 7 from a viewing area V. The partially transparent reflective element 7 is disposed in the lower side of the display housing 6 towards the front end of the display housing 6 and allows a user to
    DK 2019 70503 A1 16 see the workspace W from the viewing area V through the partially transparent reflective element 7. The partially transparent reflective element 7 is arranged to reflect an image displayed on the display screen 9 to the eyes of the user whilst the workspace W is simultaneously visible for the user through the partially transparent reflective element 7 (assuming that the eyes of the user are located in the viewing area V and the user is looking towards the partially transparent reflective element 7). Thus, in the view of the user the virtual images of the virtual environment are mixed with images of the reality of the workspace W.
    The display screen 9 and the partially transparent reflective element 7 are positioned such that the view is co-located with the position of the first handpiece 30. This allows the system to produce images of a virtual dental drill 30’ that line up in the line of sight of user with real world first handpiece 30.
    The dental procedure simulator is configured to reflect the images from the display screen 9 to the eyes of a user by reflection on the partially transparent reflective element 7 and is configured to mix the images of the virtual environment with a view of the workspace (W) seen by the user through the partially transparent reflective element 7.
    Thus, the images on the display screen 9 are reflected to the eyes of the user, and the workspace W is simultaneously visible for the user through the partially transparent reflective element 7 when the user looks at the semi- reflective element 7 from the viewing space V.
    DK 2019 70503 A1 17 In an embodiment the display screen 9 is a stereoscopic display screen and the computer 80 is configured to send stereoscopic images to the stereoscopic display screen 9. In an embodiment the stereoscopic display screen 9 is an autostereoscopic display screen 9. In an embodiment, the display screen 9 stereoscopic display screen in which the level of stereo is adjustable, so that it can be adjusted to the optimal level for a particular user.
    The computer 80 is configured to provide a three-dimensional virtual environment comprising a first virtual tool 30’ having a first virtual position and a first virtual orientation, the first virtual tool 30’ corresponding in size and shape to the handpiece 30 and the first virtual tool 30’ being co-located with the handpiece 30. The computer 80 sends images of the simulated dental procedure or treatment to the display screen 9, The images on the display screen are reflected to a user via a semi-transparent reflective element 7 (such as e.g. a semi-transparent mirror) to the eyes of a user (assuming that that the eyes of a user are located in a vision space V and the user is facing the semi-transparent reflective element 7). The vision space is a three dimensional-space where a user can simultaneously observe the images form the display screen 9 through reflection by the semi-transparent reflective element 7 and objects in the workspace W through the semi-transparent reflective element 7.
    DK 2019 70503 A1 18 The software is configured present a virtual environment that includes at least one virtual object, such as a virtual tooth, all of which are viewed by a user via the partially transparent reflective element 7. The virtual environment incudes in this embodiment virtual tool, in this embodiment a virtual dental drill 30’ corresponding to real world haptic drill handle 30. In an embodiment the dental procedure simulator 1 is provided with adjustable lighting (not shown) on the workspace W.
    The lighting is in an embodiment mounted to the lower side of the display housing 6 and directed to the workspace W.
    The adjustable lighting facilitates creating the proper balance for a given user of the image of the workspace W seen through the partially transparent reflective element 7 and the images of the virtual environment reflected from the pressure transparent reflective element 7. Referring now particularly to Figs. 8 to 22, an phantom upper jaw 13 and the phantom lower jaw 14 are supported by the structure of the dental procedure simulator 1 and arranged in the workspace W.
    The phantom lower Jaw 14 is arranged (manually) movable relative to the phantom upper jaw 13. The phantom lower jaw 14 is suspended from the phantom upper jaw 13 by a hinge mechanism 15, in an embodiment a four bar linkage.
    Preferably, the hinge mechanism 15 imitates the movement of a human jaw to render the model realistic.
    The phantom lower jaw 14 is suspended from the phantom upper jaw 13 to allow movement between a fully open position and a closed position, as illustrated in Figs. 19 and 20,
    DK 2019 70503 A1 19 respectively.
    A position sensor (not shown) is configured to create a signal indicative of the position of the phantom lower jaw 14 relative to the phantom upper Jaw 13 and is connected computer 80. The software is configured to adjust the position of a virtual lower jaw to the signal of the sensor.
    The closed position of the phantom lower jaw 14 corresponds to a position for examining the occlusal reduction.
    The software is configured to display on a display screen 9 a set of virtual upper teeth for the virtual upper jaw and a set of lower virtual teeth for the virtual lower Jaw, thereby allowing occlusal examination of the virtual set of teeth.
    The phantom upper Jaw 13 is suspended from the support structure to allow rotation in three degrees of freedom, with the center of rotation for each degree of freedom being located between the phantom upper jaw 13 and the phantom lower jaw 14, i.e. in the center of the workspace W, so that the phantom upper jaw 13 does not leave the workspace W then it is rotated.
    The X,Y,Z7 axes of rotation are illustrated in Fig. 16. The rotation is manually imparted.
    Three rotary position sensors (not shown) for sensing rotation of the upper jaw 13 are provided for sensing rotation in each of the three degrees of freedom.
    The computer 80 is in receipt of a signal from the three rotary position sensors.
    The software is configured to adjust the simulation of the dental procedure or treatment to the signal from the rotary position sensors, in particular the software adjusts the orientation and position of the virtual upper jaw and the orientation and position of the virtual upper jaw.
    DK 2019 70503 A1 20 The phantom upper Jaw 13 is suspended from the support structure by a first mechanism 11 that allows the upper jaw to rotate about a first horizontal axis Y that is extends though the center of the workspace W without the first mechanism 11 intersecting the workspace W, the mechanism comprising a remote center linkage 11, preferably two spaced parallel remote center linkages 11 to render the mounting structure of the Phantom had more rigid and stable. The linkage 11 is connected to the main housing 4 by a bracket
    17.
    The phantom upper Jaw 13 is suspended from the support structure by a second mechanism that allows the phantom upper jaw 13 to rotate about a second horizontal axis X that is disposed in the workspace W without the second mechanism intersecting the workspace W. The second mechanism comprises an L-shaped plate 12 that extends between the phantom head 10 and the phantom upper jaw 13. The phantom upper jaw 13 is connected through the L-shaped plate 12 by a hinge pin (not visible in the drawings) that allows the phantom upper jaw 13 and the phantom head 10 to rotate in unison about the second horizontal axis X.
    The phantom upper Jaw 13 is suspended from the support structure by a third mechanism 16 that allows allow rotation of the phantom upper jaw 13 about a vertical axis Z that extends though the center of the workspace W without the third mechanism 16 intersecting the workspace W. The third mechanism 16 comprises a hinge pin that connects the first mechanism 11
    DK 2019 70503 A1 21 to the L- shaped plate 12 and allows the L-shaped plate 12 to rotate about the vertical Z axis.
    The phantom upper jaw 13 comprises an upper support member 19 with a removable phantom upper jaw element 21,25 removably attached thereto, and the phantom lower jaw 14 comprises a lower support member 18 with a removable phantom lower Jaw element 20,24 removably attached thereto.
    In an embodiment he removable phantom jaw elements 20,21,24,25 are releasably attached to the upper or lower support element 18, 19 by magnetic force from the combination of a permanent magnet and a member of magnetic material, associated with the support element and phantom jaw element, respectively.
    The generic phantom upper Jaw element 25 and the generic phantom lower jaw element 24 do not have phantom teeth.
    The specific phantom upper jaw element 20 and the specific lower jaw element 21 are provided with phantom teeth 22. The phantom teeth 22 are removably attached by the phantom teeth 22 being inserted in a specific recess 23 in the specific phantom upper or lower jaw element 20,21. In an embodiment, the specific upper and lower Jaw elements 20,21 with their phantom teeth 22 are accurate models of a portion of a real human upper Jaw and lower Jaw with its upper teeth.
    The phantom tooth or teeth 22 that is/are is to be subject of the dental procedure or treatment is/are removed to provide space for the first handpiece 30 to move unhindered by the phantom tooth or teeth 22 concerned.
    In Figs. 8 to 11 one phantom tooth 22 has been removed by way of example and the recess 23 in the phantom jaw concerned 20,21 is empty.
    The remaining
    DK 2019 70503 A1 22 phantom teeth 22 can be used by the user to support the user’s hands and/or fingers. When a specific upper and/or phantom lower jaw element 20,21 is used the computer 80 is provided with a virtual model of the specific lower jaw element 20 and/or of the specific upper jaw element 21. The computer 80 instructs the user which jaw element (generic or specific) is to be installed for a given exercise. Thus, the computer 80 is configured to instruct a user to install a generic upper or lower jaw element 25,24 or a particular specific upper or lower jaw element 20,21. In the embodiment shown in Figs. 12 to 21 the phantom upper jaw 13 and phantom lower jaw 14 are part of a phantom head
    10. The phantom head 10 with its phantom lower jaw 14 and phantom upper jaw 13 is arranged movable relative to the support structure of the dental procedure simulator 1 and the phantom head 10 with its phantom lower jaw 14 and phantom upper jaw 13 to move in unison with one another.
    Referring now particularly to Figs. 23 to 26, which illustrate the linkage 40 that is controlled by the computer 80 to simulate the medical procedure or treatment. The linkage 40 comprises a main link 41 (in an embodiment an elongated straight member) and the first handpiece 30 is connected to a front extremity of the main link 41 by a mechanical joint with at least two degrees of freedom that will be explained in greater detail further below. The linkage 40 has a first crank 42 driven by a first rotary actuator 47, a second crank 44 driven by a second rotary actuator 48 and a third crank 46 driven by a third rotary actuator 49. The respective rotation
    DK 2019 70503 A1 23 axes of the first, second and third cranks 42,44,46 can in an embodiment (not shown) be arranged orthogonally relative to one another.
    The rotation axis of the first crank 42 extends substantially vertically. The first crank 42 is coupled directly to the main link 41 at a first position which is at or near the rear extremity of the main link 41 by a hinge with two degrees of freedom, such as e.g. a universal joint.
    The second crank 44 is coupled to the main link 41 via a first horizontally extending connecting rod 43 and the third crank 46 is coupled to the main link 41 via a second vertically extending connecting rod 45. The first crank 42 is arranged to actuate the main link 41 in a first (horizontal) axial direction X. The second crank 44 is arranged to actuate the main link 41 in a second (horizontal) transverse direction Y, and the third crank 46 is arranged to actuate the main link 41 in a second (vertical) transverse direction Z.
    The first connecting rod 43 is coupled to the main link 41 at a second axial position between the front extremity and the first position and the second connecting rod 45 is coupled to the main link 41 at a third axial position between the front extremity and the first position. In an embodiment, the second and third axial position substantially coincide. The main link 41 comprises a three dimensional force sensor (3DOF sensor) 50 for sensing forces applied by the user to the first handpiece 30 in three dimensions. The three dimensional force sensor 50 is disposed between the front
    DK 2019 70503 A1 24 extreme position and the second and/or third axial position, and the three dimensional force sensor 50 preferably is an integral part of the main link 41. The three dimensional force sensor 50 is coupled to the computer 80.
    The first, second and third cranks 42,44,46 are coupled (directly or to the rotary motor driving the respective crank) to respective first second and third rotary position sensors or encoders 26,27,28, which are in data connection with the computer 80. In the shown embodiment, the rotation axis of the second crank 44 and of the third crank 46 both extend horizontally and parallel. However, the rotation axis of the second crank 44 and of the third crank 46 main embodiment also extend horizontal and at an angle to one another, for example a right angle.
    The first, second and third cranks 42,44,46 are mounted on a reference 51 (e.g. a frame or base). The reference 51 is supported by the main housing 4 or by the support structure of the dental procedure simulator 1. The linkage 40 connects the handpiece 30 to the reference 51 and the linkage 40 provides six independent degrees of freedom for the handpiece 30 relative to the reference 51.
    A handpiece rest 32 provides a parking position for the first handpiece 30 when the first handpiece 30 is not used. A park sensor 59 is associated with the handpiece rest 32 to detect the parked position of the first handpiece 30.
    The arrangement of the linkage 40 results in a workspace W that a shaped as a cuboid with a horizontal top and bottom.
    DK 2019 70503 A1 25 Referring now particularly to Figs. 27 to 29, which illustrate the first handpiece 30 in greater detail. The first handpiece 30 comprises an inner part 38 extending into an outer part 37 with the outer part 37 being configured to rotate about the inner part 38. The outer part 37 forms the outer shell of the first handpiece 30 and is configured to rotate about the inner part 38 about a longitudinal axis L of the handpiece 30. A portion 57 of the inner part 38 protrudes from the outer part 37 and the portion 57 is coupled to the front extremity of the linkage 40 by a joint with at least two degrees of freedom. This joint comprises a handpiece link 31 coupled at one of its extremities to the inner part 38 by a first pivot hinge 34 to provide one degree of freedom. The other extremity of the handpiece link 31 is attached to a connection element 56 by a first pivot joint 36 to provide a second degree of freedom. The connection element 56 is rigidly connected to the extremity of the main link 41.
    A first inertial measurement unit 52 is mounted to the inner part 38. A fourth rotary position sensor 53 senses rotational movement of the outer part 37 relative to the inner part 38. The fourth rotary position sensor 53 is mounted on the inner part 38 and arranged to measure the rotational position of the outer part 37 relative to the inner part 38. At least a first portion of the fourth rotary position sensor is mounted on the inner part 38, and the first portion is connected to the computer 80 by a cable 58 that is guided or supported by the inner part 38.
    DK 2019 70503 A1 26 The first inertial measurement unit 52 and the fourth rotary position sensor 53 are coupled to the computer 80 by a cable 58 that is received in a cable channel 35 that extends though the inner part 38. The cable 58 leaves the inner part 38 near the first hinge 34 and then enters a cable channel 33 that extends through the handpiece link 31. The cable 58 establishes a data link between the inertial measurement unit 52 and the computer 80 for transmission of position and/or orientation data and between the fourth rotary position sensor 54 and the computer 80 for transmission of rotational position data.
    A cap 39 forms the free end of the first handpiece 30. A first rotary bearing 54 and an axially spaced second rotary bearing 55 are arranged between the inner part 38 and the outer part
    37. Due to absence of limiting structures the outer part 37 has infinite roll relative to the inner part 38.
    The inner part 38 is elongated and is connected to the handpiece link 31 at a first extremity of the inner part 38. The fourth rotary position sensor 53 is arranged at or near a second extremity of the inner part 38, the second extremity being located inside the outer part 37.
    The longitudinal extent of the outer part 37 comprises a proximate portion (proximate to the user) and a distal portion (distal to the user). The distal portion extends at an angle to the proximate portion, with the inner part 38 protruding from the outer part 37 though the distal portion.
    DK 2019 70503 A1 27 The first inertial measurement unit 52 is positioned within the outer shell 37 of the handpiece 30 and mounted on the inner part 38. The first inertial measurement unit 52 is configured to measure translational acceleration, rotational velocities and the magnetic field. As such, the first inertial measurement unit 52 is also capable of determining the speed and displacement of the first handpiece 30 using data processing techniques known in the art. In an embodiment the first inertial measurement unit 52 has nine sensors, which comprise a 3-axis gyroscope, 3-axis accelerometer, and 3-axis magnetometer. The first inertial measurement unit 52 is provided with an embedded Digital Motion Processor that acquires data from accelerometers, gyroscopes, magnetometers and processes the data. The inertial measurement unit chip outputs a quaternion, which describes the orientation in space to a reference, e.g. in real space. This data output is passed along the cable 58 along with the signal from fourth rotary position sensor 53 to the computer 80.
    The inertial measurement unit 52 is calibrated before use by placing the handpiece 30 with a defined orientation so that world reference is alignment. This embodiment uses the park position on the handpiece rest 32 shown in Fig. 28 for the calibration.
    Referring now particularly to Figs. 30 to 33, which illustrate another embodiment of the dental procedure simulator 1. In this embodiment, structures and features that are the same or similar to corresponding structures and features previously described or shown herein are denoted by the same reference numeral as previously used for simplicity.
    DK 2019 70503 A1 28 In this embodiment a secondary tool 60 with a second handpiece 61 is added, e.g. to simulate a mirror tool used by a dentist. Unlike the first handpiece 30, whose real world position is controlled by the dental procedure simulator 1, the real world position of a second handpiece 61 is controlled by user (the secondary tool 60 is not actuated and is moved manually without haptic feedback). The secondary tool 60 is suspended from the support arm 5 and comprises a second handpiece 61 that can be manipulated in the workspace W by a user. The secondary tool 60 is suspended from the main structure of the dental procedure simulator by a linkage. The computer 80 is configured to display a corresponding virtual secondary tool in the virtual environment e.g. a virtual dental mirror corresponding to real world dental mirror handle. The position and movement of virtual second handpiece is adjusted to directly match the real world position of second handpiece
    61.
    The secondary tool 60 comprises a primary link 63 coupled to the structure of the dental procedure simulator 1 by one or more joints that provide a first and second degree of freedom and a secondary link 66 coupled to the primary link 63 by one or more joints that provide a third and fourth degree of freedom. The second handpiece 61 is connected to the secondary link 66 by one or more joints that provide a fifth and sixth degree of freedom to form a serial chain that connects the handpiece 61 to the main structure of the dental procedure simulator 1 with six degrees of freedom. A fifth rotary position sensor 68 senses movement in the first degree of freedom, a sixth rotary position sensor 72 for sensing
    DK 2019 70503 A1 29 movement in the second degree of freedom and a seventh rotary position sensor 73 for sensing movement in the third degree of freedom. The fifth, sixth and seventh position sensors 68,72,73 being in data connection with the computer 80, A second inertial measurement unit 74 is arranged in the second handpiece 61 and moves in unison with the second handpiece 61. The second inertial measurement unit 74 is in data connection with the computer 80 and the second inertial measurement unit 74 is configured to sense movements in at least the fourth, fifth and sixth degrees of freedom. The second inertial measurement unit 74 is in an embodiment technically identical to the first inertial measurement unit
    52.
    The second handpiece 61 is connected to the secondary link 66 by a fourth pivot joint 69 that provides the sixth degree of freedom. The sixth degree of freedom allows the second handpiece 61 rotate about an (longitudinal) axis of the second handpiece 61. The second inertial measurement unit 74 is configured to sense the sixth degree of freedom. The fourth pivot joint 69 is connected to an extremity of the secondary link by a second hinge 62 that provides the fifth degree of freedom of the second handpiece 61. The second handpiece 61 can move in three translational degrees of freedom and the second handpiece 61 itself can move in three rotational degrees of freedom.
    DK 2019 70503 A1 30 The primary link 63 is an elongated link such as e.g. a rod or a tube. The primary link 63 is coupled to the reference (e.g. the support structure of the dental procedure simulator 1) by a fourth hinge 75 that allows the primary link 63 to rotate about a transverse axis (transverse to the longitudinal extend of the primary link 63) to obtain the second degree of freedom. The primary link 63 is coupled to the fourth hinge 75 by a third pivot joint 67 that allows the primary link 63 to rotate about its longitudinal axis to realize the first degree of freedom.
    The firth rotary position sensor 68 is arranged to sense rotation about the longitudinal axis of the primary link 63 and the second rotary position sensor 72 is arranged to sense rotation about the third hinge 75.
    The secondary link 66 is an elongated link that is coupled to the primary link 63 by a third hinge 65 that allows the secondary link 66 to rotate about a transverse axis (transverse to the longitudinal axis of the secondary link 66) to obtain the third degree of freedom.
    The third rotary position sensor 73 is configured to sense rotational movement of the secondary link 66 about the third hinge 65. The secondary link 66 is coupled to the third hinge 65 by a second pivot joint 64 that allows the secondary link 66 to rotate about its longitudinal axis to obtain the fourth degree of freedom.
    DK 2019 70503 A1 31 A tertiary link 70 is coupled to a quaternary link 71. The tertiary link 70 is coupled to the primary link 63 or to the secondary link 66, and the quaternary link 71 is coupled to the third rotary position sensor 73 to form a serial chain that translates rotation of the secondary link 66 about the transverse axis of the secondary link 66 (about the third hinge 65) into rotational movement of the third rotary position sensor 73.
    The second inertial measurement unit 74 is configured to sense rotation of the handpiece 61 about the (longitudinal) axis of the handpiece 61, i.e. to sense the movement in the sixth degree of freedom. The second inertial measurement unit 74 is in data communication with the computer 80, preferably by a wireless (RF) data connection.
    In an embodiment (not shown) a rotary position sensor is arranged inside the second handpiece 61 for sensing rotation of the handpiece 61 about the longitudinal axis of the handpiece 61.
    In an embodiment, the second inertial measurement unit 74 is configured to sense movement in all six degrees of freedom and the computer 80 is configured to use the signal from the first, second and or third sensors 68,71,72 as a reference for calibrating the inertial second measurement unit 74. Generally, the computer 80 is configured to both receive information indicating the rotational position of first second and third cranks, and to control actuation of the first second and third cranks (global linear movement of the first
    DK 2019 70503 A1 32 handpiece 30, to receive information indicative of actuation of the first handpiece 30 and the second handpiece 61, and, to receive information indicative of the orientation (rotational position) of the first handpiece 30 from the first inertial measurement unit 52 and information indicative of the orientation (rotational position) of the second handpiece 61 from the second inertial measurement unit 74. A control scheme is used in which the position, orientation and actuation of the first handpiece 30 is known by the computer 80, which is also able to provide haptic feedback to the first handpiece 30 via the actuators 47,48,49 as determined by the characteristics of the virtual model. The position of the virtual tools within the virtual environment is displayed on the display screen 9.
    By using data from the rotary position sensors 26,27,28,68,72,73 associated with first linkage 40 and the secondary linkage 60 and from the first and second inertial measurement units 52, 74, as well as the rotary position sensor 53, the position and orientation of the virtual tools within the virtual environment is displayed on the display screen 9 so as to be co-located with the position and orientation of the real tools.
    In an embodiment, the computer 80 is configured to simulate a medical procedure or treatment through haptic feedback, preferably haptic force feedback, with the linkage 40 with its associated actuators 47, 48, 49 and through visual feedback with the display screen 9. Hereto, the computer 80 is configured to use the signal from the three dimensional
    DK 2019 70503 A1 33 force sensor 50 as input and by controlling the position of the extremity of the linkage 40 accordingly.
    In an embodiment, the computer 80 includes software applications for providing a training platform, providing instructional material and videos, recording, replaying and evaluating a user's performance; providing audio, visual and textual communication with a remote instructor over a computer network; providing a remote instructor ability to provide force inputs to haptic system; and providing differing virtual objects (e.g. teeth, jaws or complete heads), tools and physical rules into the virtual environment.
    In an embodiment, the computer 80 is configured to detect collision between a burr of a virtual dental drill (using the real position of the first tool 30), to determine the interaction force to be applied to the virtual drill based upon virtual drill position, a virtual drill model and a virtual tooth model.
    The computer 80 is also configured to calculate the virtual drill speed based upon the interaction force and a user input, such as from a foot pedal.
    In an embodiment the tooth model volume is represented as a set of three dimensional pixels, or voxels.
    Fach voxel has a hardness value associated with it, representing the type/quality of tooth material (i.e. dentin, enamel, pulp). The conventional marching cubes algorithm is used to create a triangle mesh of an isosurface of the tooth model voxel set.
    DK 2019 70503 A1 34 The virtual handpiece is modeled analytically or by voxels. Thus, the handpiece’s physical model a finite number of voxels, or by a complete analytically defined shape. The handpiece model also has a vector parameter for the handpiece's three dimensional velocity. The virtual tool is provided with a virtual burr. The virtual burr or virtual handpiece can come in virtual contact with the virtual tooth. Hereto, the shape of the virtual burr is rendered against the voxels of the virtual tooth. The real position of the firth handpiece 30 is used to determine the position of the virtual burr and to determine contact between the virtual burr and the virtual tooth. Referring now in particular to Fig. 35 a control loop is used to control the velocity in one direction of the end of the main link 41 and thereby the velocity of the first handpiece
    30. In total 3 of these force control loops are active to control the 3 directions of movement (3DOF). The force control loop uses the difference between the virtual force that is calculated by virtual environment 90 and the real force in one direction that is calculated from the force measured by the 3DOF force sensor 50 at a summation point 86. The output of the summation point 86 is the input for a lead-lag compensator 87 that removes high frequencies and connects into a standard PI or PID controller 88. The PI or PID controller calculates a velocity command for the motor drive
    89. The motor drive 89 is also in receipt of a signal from the rotary position sensors (encoders) 26, 27, 28 and determines the actual velocity of the handpiece 30 from the position signal. The motor drive 89 electrically drives the first rotary actuator 47, (the motor drives of the other two
    DK 2019 70503 A1 35 control loops drive the second rotary actuator 48 and the third rotary actuator 49). The motor drive uses the difference between the velocity command of the PI or PID controller and the real velocity that is calculated from the real position that is measured by the position sensor (encoder) 26,27,28 on the respective rotary actuator 46,47,48. A differentiator 92, that is in receipt of the position signal provides the actual velocity as output signal.
    The output of the differentiator 92 is provided to the motor drive 89 and to the virtual environment 90. In an embodiment, the differentiator 92 is an integral part of the motor drive 89. The first second and third rotary actuators 47, 48, 49 are connected to the first handpiece 30 vi the linkage 40 that connects to the different sensors (force, position and orientation) described above.
    Input from a foot pedal sensor 91 is used to determine the rotary speed of the virtual burr.
    The virtual environment receives a signal from IMU 52 to be informed of the orientation of the first handpiece 30. The virtual environment 90 includes a burr model, tooth model and a jaw model and uses the real position and the real orientation of the first handpiece 30 to determine the position and orientation of the virtual burr.
    The virtual burr model and the virtual tooth model or jaw model are used to calculate the resulting virtual force that is send back as a command to the force control loop and applied to the handpiece 30. When beginning to dental procedure simulator 1, the user positions herself in a chair (not shown) in front of the dental procedure simulator 1. If the display screen 9 is an autostereoscopic display screen the user does not need to use eclipse/shutter glasses, otherwise the user will put on
    DK 2019 70503 A1 36 eclipse/shutter glasses. The height of the main housing 4 is properly adjusted to the ideal working height for the user concerned. The chair height can also be adjusted according to the need of the user concerned.
    The dental procedure simulator is in an embodiment provided with a network connection through the computer 80. In this disclosure any reference to a body part, such e.g. teeth, lower jaw, upper Jaw or head, typically referred to the human versions of these body parts. Thus, in this disclosure e.g. phantom lower jaw is a physical model of a human lower jaw and e.g. a virtual lower jaw is a virtual model of the human lower jaw.
    The various aspects and implementations have been described in conjunction with various embodiments herein. However, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed subject-matter, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent «claims does not indicate that a combination of these measured cannot be used to advantage. A computer program may be stored/distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware,
    DK 2019 70503 A1 37 but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunication systems.
    The reference numerals used in the claims shall not be construed as limiting the scope. Unless otherwise indicated, the drawings are intended to be read (e.g., cross-hatching, arrangement of parts, proportion, degree, etc.) together with the specification, and are to be considered a portion of the entire written description of this disclosure. As used in the description, the terms “horizontal”, “vertical”, “left”, “right”, “up” and “down”, as well as adjectival and adverbial derivatives thereof (e.g., “horizontally”, “rightwardly”, “upwardly”, etc.), simply refer to the orientation of the illustrated structure as the particular drawing figure faces the reader. Similarly, the terms “inwardly” and “outwardly” generally refer to the orientation of a surface relative to its axis of elongation, or axis of rotation, as appropriate.
    权利要求:
    Claims (10)
    [1] 1. A medical procedure simulator (1) comprising: a handpiece (30) configured to be held in a hand of a user and to be manipulated by said user in a workspace in real space, and a linkage (40) controlled by a computer (80) that is configured to simulate a medical procedure or treatment, said linkage (40) comprising a main link (41), a first crank (42), a second crank (44) and a third crank (46), a first actuator (47) driving said first crank (42), a second actuator (48) driving said second crank (44), a third actuator (49) driving said third crank (46), said first crank (42) being coupled directly to said main link (41), said second crank (44) being coupled to said main link (41) via a first connecting rod (43), said third crank (46) being coupled to said main link (41) via a second connecting rod (45), said handpiece (30) being connected to an extremity of said main link (41) by a mechanical joint, said first crank (42) being arranged to actuate said main link (41) in an axial direction, said second crank (44) being arranged to actuate said main link (41) in a first transverse direction, and said third crank (46) being arranged to actuate said main link (41) in a second transverse direction different from said first direction.
    DK 2019 70503 A1 39
    [2] 2. A medical procedure simulator (I) according to claim 1, wherein said first crank (42) is connected to said main link (41) at a first axial position, said first connecting rod (43) is coupled to said main link (41) at a second axial position between said extremity and said first axial position and said second connecting rod (45) is coupled to said main link (41) at a third axial position between said extremity and said first position, said second and third axial position preferably being substantially identical.
    [3] 3. A medical procedure simulator (I) according to claim 2, wherein said main link (41) comprises a three dimensional force sensor (50) for sensing forces applied by said user to said handpiece (30) in three dimensions, said three dimensional force sensor (50) being disposed between said extreme position and said second and/or third axial position, and said three dimensional force sensor (50) preferably being an integral part of said main link (41).
    [4] 4, A medical procedure simulator (1) according to any one of claims 1 to 3, wherein said first, second and/or third cranks (42,44,46) are coupled to a rotary position sensor or encoder (26,27,28).
    [5] 5. A medical procedure simulator (1) according to any one of claims 1 to 4, wherein said first, second and/or third actuators (47,48,49) are rotary actuators.
    DK 2019 70503 A1 40
    [6] 6. A medical procedure simulator (1) according to any one of claims 1 to 5, wherein the respective rotation axes of said first, second and third cranks (42,44,46) are arranged orthogonally relative to one another.
    [7] 7. A medical procedure simulator (1) according to any one of claims 1 to 6, wherein said first connecting rod (43) extends substantially horizontally, said second connecting rod (45) extends substantially vertically, and the rotation axis of said fist crank extends substantially vertically.
    [8] 8. A medical procedure simulator (1) according to any one of claims 1 to 7, wherein said computer (80) is configured to simulate a medical procedure or treatment through haptic feedback, preferably haptic force control feedback, with said linkage (40) and through visual feedback with a display screen (9).
    [9] 9. A medical procedure simulator (1) according to any one of claims 1 to 8, comprising a reference (51), wherein said first, second and third cranks (42,44,46) are mounted on said reference (51).
    [10] 10. A medical procedure simulator (1) according to any one of claims Al to A9, comprising a reference, wherein said linkage (40) provides at least six independent degrees of freedom for said handpiece (30) relative to said reference (51).
    类似技术:
    公开号 | 公开日 | 专利标题
    EP0935796B1|2007-08-29|System for training persons to perform minimally invasive surgical procedures
    JP4779168B2|2011-09-28|Medical training device
    EP2269533B1|2021-05-05|Three-dimensional digital magnifier operation supporting system
    CN105264459B|2018-09-28|Tactile enhancing for simulation surgery and virtual reality system
    US5688118A|1997-11-18|Image sound and feeling simulation system for dentistry
    US20010055748A1|2001-12-27|System for training persons to perform minimally invasive surgical procedures
    WO2009000939A1|2008-12-31|Laparoscopic surgical simulator
    CA2958840A1|2016-02-25|Medical procedure simulator
    DK180682B1|2021-11-25|Apparatus for simulating medical procedures and methods
    GB2589458A|2021-06-02|A virtual reality surgical system including a surgical tool assembly with haptic feedback
    US20190236974A1|2019-08-01|Simulator For Manual Tasks
    WO2021028260A1|2021-02-18|Apparatuses for simulating dental procedures and methods
    WO2022002778A1|2022-01-06|Apparatus and mechanism for simulating dental procedures and methods
    CN114206252A|2022-03-18|Apparatus and method for simulating dental surgery
    CN108389488B|2020-12-15|Interactive oral cavity simulation system
    US20210174705A1|2021-06-10|Automated dental articulator and method for training and practicing dental procedures
    JP3584169B2|2004-11-04|Dental training system
    JP2020134710A|2020-08-31|Surgical operation training device
    EP3844735A1|2021-07-07|Vibrotactile method, apparatus and system for training and practicing dental procedures
    Luciano2005|Haptic-based Dental Procedure Training Simulator
    Faulkner2001|Virtual Reality Laboratory for Medical Applications
    Meseure et al.2006|A Retinal Laser Photocoagulation Simulator
    Ji2005|Viewing Options for the Virtual Haptic Back |
    同族专利:
    公开号 | 公开日
    DK180682B1|2021-11-25|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    2021-03-19| PAT| Application published|Effective date: 20210210 |
    2021-11-25| PME| Patent granted|Effective date: 20211125 |
    优先权:
    申请号 | 申请日 | 专利标题
    DKPA201970503A|DK180682B1|2019-08-09|2019-08-09|Apparatus for simulating medical procedures and methods|DKPA201970503A| DK180682B1|2019-08-09|2019-08-09|Apparatus for simulating medical procedures and methods|
    PCT/EP2020/071871| WO2021028260A1|2019-08-09|2020-08-04|Apparatuses for simulating dental procedures and methods|
    [返回顶部]