Abstract: An apparatus for simulation of an endoscopy operation. A dummy endoscope (1) is inserted into a unit (2) which monitors the position of the dummy instrument and provides force feedback to the instrument in accordance with a stored software model. A virtual image simulating the view from the endoscope is displayed. Additional simulation is provided of an external condition to the patient body, for example patient orientation (8), external pressure applied to the body (9), (10) and trans-illumination (11).

Abstract: A dummy instrument for use in a simulator, the instrument comprising a control body (101) with user manipulatable angulation control (105), an insertion tube (102) and an umbilical (103) extending from the control body. In a real instrument corresponding to the one being simulated, at least one angulation cable would extend from the user manipulatable controls to the tip of the insertion tube such that movement of the angulation control changes the angulation of the tip. In the dummy medical instrument the angulation cable extends from the user manipulatable angulation control, and down the umbilical. The umbilical is releasably attached to a main unit (105). A motor (20,21) within the instrument at the distal end of the umbilical to applies a variable force to the cable. A position detector (30,31) within the instrument detects the angular position of the angulation control.

Abstract: An apparatus for use in a simulator for an endoscopy system. The apparatus comprises a rotatable disc (2) on which a plurality of rollers (6, 7) are mounted to surround the axis of rotation (4) of the disc. A force feedback motor is provided to resist rotation of the disc (2) and a further motor (12, 13) is provided to resist rotation of at least one of the rollers. These mechanisms provide rotational and linear force feedback respectively against movement of a dummy instrument inserted along the axis (4). A separate mechanism of similar construction, but without force feedback motors is provided independently of the force feedback arrangement to provide independent linear and rotary sensing of the position of the instrument.

Abstract: An apparatus for simulation of an endoscopy operation. A dummy endoscope (1) is inserted into a unit (2) which monitors the position of the dummy instrument and provides force feedback to the instrument in accordance with a stored software model. A virtual image simulating the view from the endoscope is displayed. Additional simulation is provided of an external condition to the patient body, for example patient orientation (8), external pressure applied to the body (9), (10) and trans-illumination (11).