Abstract: A dental procedure simulator includes a support structure and a linkage suspended from the support structure. The linkage is controlled by a computer that is configured to simulate a dental procedure or treatment. A handpiece is coupled to the linkage and configured to be held in a hand of a user and to be manipulated by the user in a workspace (W) in real space. The phenom head is provided with a phantom upper jaw and a phantom lower jaw and is supported by the support structure and arranged in the workspace (W.) The phantom lower jaw is arranged movably relative to the phantom upper jaw.

Abstract: A dental procedure simulator includes a support structure and a linkage suspended from the support structure. The linkage is controlled by a computer that is configured to simulate a dental procedure or treatment. A handpiece is coupled to the linkage and configured to be held in a hand of a user and to be manipulated by the user in a workspace (W) in real space. The phenom head is provided with a phantom upper jaw and a phantom lower jaw (14) and is supported by the support structure and arranged in the workspace (W.) The phantom lower jaw is arranged movably relative to the phantom upper jaw.

Abstract: A mechanism for connecting a handpiece of a medical simulator) to a haptic arm of the medical simulator, with a first arm for connecting to the handpiece via a first revolute joint. The first revolute joint allows the handpiece to rotate about a first axis that coincides with a longitudinal axis of the handpiece. The first arm is part of a first parallel four-bar linkage. The first parallel four-bar linkage is operably connected to a second four-bar linkage to allow the handpiece to rotate about a second axis. The second parallel four-bar linkage comprises a third arm for connecting to the haptic arm via a second revolute joint. The second revolute joint allows the handpiece to rotate about a third axis that is preferably parallel with the haptic arm. A medical procedure simulator includes such a mechanism.

Abstract: A dental procedure simulator includes a support structure and a linkage suspended from the support structure. The linkage is controlled by a computer that is configured to simulate a dental procedure or treatment. A handpiece is coupled to the linkage and configured to be held in a hand of a user and to be manipulated by the user in a workspace (W) in real space. The phenom head is provided with a phantom upper jaw and a phantom lower jaw (14) and is supported by the support structure and arranged in the workspace (W.) The phantom lower jaw is arranged movably relative to the phantom upper jaw.