Abstract: A secondary instrument (11) insertable into a channel (12) in a main instrument (1) in a medical simulator. The secondary instrument comprises an outer sleeve (15) and a handle (17) movable within the outer sleeve. The instrument has a first configuration representing a first real instrument in which the handle is movable with respect to the outer sleeve for a first length of travel and a second configuration representing a second instrument in which the handle is movable with respect to the outer sleeve for a second length of travel which is less than the first length of travel. The instrument is therefore able to physically represent more than one real instrument.

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: A dummy medical instrument for connection to a force feedback mechanism. The dummy medical instrument having a number of cables 5, 8 extending around control knobs 1, 2. In a real instrument corresponding to the dummy instrument, the cables would extend to the tip of the instrument to allow controlled flexing of the tip of the instrument. In the dummy medical instrument, the same cables are routed down the umbilical of the instrument for connection to force feedback motors simulating the forces felt on the tip of the instrument.

Abstract: An endoscopy simulation system comprising a dummy endoscope (1) having a manually adjustable collar (30). In a real endoscope the collar would be connected to a mechanism for adjusting a stiffness of an insertion portion (3) of the endoscope. A position sensor (38, 39) senses the position of the collar. A controller (26) converts the position of the collar to a value representing the simulated stiffness of the insertion portion for use in the simulation.

Abstract: A secondary instrument (11) insertable into a channel (12) in a main instrument (1) in a medical simulator. The secondary instrument comprises an outer sleeve (15) and a handle (17) movable within the outer sleeve. The instrument has a first configuration representing a first real instrument in which the handle is movable with respect to the outer sleeve for a first length of travel and a second configuration representing a second instrument in which the handle is movable with respect to the outer sleeve for a second length of travel which is less than the first length of travel. The instrument is therefore able to physically represent more than one real instrument.

Abstract: A dummy medical instrument for connection to a force feedback mechanism. The dummy medical instrument having a number of cables 5, 8 extending around control knobs 1, 2. In a real instrument corresponding to the dummy instrument, the cables would extend to the tip of the instrument to allow controlled flexing of the tip of the instrument. In the dummy medical instrument, the same cables are routed down the umbilical of the instrument for connection to force feedback motors simulating the forces felt on the tip of the instrument.

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.