Abstract: The invention relates to the devices providing the tactual sensation by the operation with the elongated instruments in the medical simulators. In the drive the counteraction of the instrument motion is being performed contact-free that allows to increase the precision of the tactual sensations set by the program. An instrument's longitudinal movement device and a regulated braking mechanism are realized together in the form of the linear electromagnetic motor 1, and the instrument's rotational movement device and the regulated braking mechanism are realized together in the form of the electromagnetic motor 2, where the elongated instrument 9 with the magnets inside is located inside the linear electromagnetic motor 1, performing the regulated longitudinal motion of the elongated instrument 9, interacting with the rotor of the electromagnetic motor 2.

Abstract: The invention relates to the devices providing the tactual sensation by the operation with the elongated instruments in the medical simulators. In the drive the counteraction of the instrument motion is being performed contact-free that allows to increase the precision of the tactual sensations set by the program. An instrument's longitudinal movement device and a regulated braking mechanism are realized together in the form of the linear electromagnetic motor 1, and the instrument's rotational movement device and the regulated braking mechanism are realized together in the form of the electromagnetic motor 2, where the elongated instrument 9 with the magnets inside is located inside the linear electromagnetic motor 1, performing the regulated longitudinal motion of the elongated instrument 9, interacting with the rotor of the electromagnetic motor 2.

Abstract: The present invention provides a hybrid medical laparoscopic simulator including an ECM, laparoscopic instrument imitators coupled to the ECM, trocar imitators coupled to the ECM, a visualization system coupled to the ECM attained by the presence of a robot-patient, laparoscopic unit imitators coupled to the ECM, and operating room equipment. Each of the laparoscopic instrument imitators is executed in a form of a real instrument, contains a sensor unit, and is separated from at least four trocar imitators installed in an abdominal cavity of the robot-patient, each of the trocar imitators is coupled to a corresponding displacement node of the trocar imitator, and a position of the trocar imitator on an anterior wall of the abdominal cavity of the robot-patient is traced and defined.