Devices and mechanisms for simulating dental procedures and methods

Abstract

A mechanism (100) for connecting a handpiece (30) of a medical simulator (1) to a tactile arm (40) of the medical simulator (1) has a first arm (102) for connection to the handpiece (30) via a first rotary connector (54). The first rotary connector allows the handpiece (30) to rotate about a first axis (A1) coinciding with the longitudinal axis of the handpiece (30). The first arm (102) is part of a first parallelogram-four-bar linkage (110). The first parallelogram-four-bar linkage (110) is operatively connected to a second parallelogram-four-bar linkage (120) to allow the handpiece (30) to rotate about a second axis (A2). The second parallelogram-four-bar linkage (120) includes a third arm (126) for connection to the tactile arm via a second rotary connector (154). The second rotary connector (154) allows the handpiece (30) to rotate about a third axis (A3) preferably parallel to the tactile arm (40). Medical surgery simulators, including such institutions (100).

Description

Technical Field

[0001] This disclosure relates to apparatus for simulating medical procedures and methods, and to mechanisms for such apparatus, particularly apparatus and methods for simulating physician activities using virtual, mixed, and / or augmented reality. Background Technology

[0002] Some known virtual medical simulators involve a computer that provides a simulated environment, using a display screen to show the simulated environment to the user and a haptic arm to provide haptic force feedback based on events in the simulated environment. Examples of virtual medical simulators include, for example, dental simulators, ophthalmic surgery simulators, and arthroscopic surgery simulators.

[0003] Dentistry, also known as the science of teeth and oral cavity, is a branch of medicine that comprises the study, diagnosis, prevention, and treatment of diseases, disorders, and conditions of the oral cavity. These conditions are commonly found in the dental arch but also exist in the oral mucosa, as well as in adjacent and related structures and tissues, particularly in the maxillofacial (jaw and cheek) region. Dentistry encompasses all oral cavity-related practices performed by dentists, dental surgeons, oral surgeons, maxillofacial surgeons, dental hygienists, and dental therapists in the form of dental procedures and treatments.

[0004] Dental students need training facilities, while using real patients has obvious drawbacks, such as the risk of spreading infectious diseases and the potential for patient suffering due to inexperienced practitioners performing inadequate procedures.

[0005] Dental simulators for simulating dental procedures are known in the art. These simulators are used to train dental students, thereby reducing the need for training with plastic model heads containing plastic model teeth (which cannot provide accurate simulation, do not allow for objective evaluation or tracking of work, and are not environmentally friendly) and reducing the need for training with real patients. Known dental simulators include a computer that controls the simulation and possesses a virtual environment, a display screen that displays the simulated environment, and one or two handpieces connected to the computer to provide input. The simulated environment includes the subject, a set of virtual teeth, a virtual type of tool controlled by the handpiece, and a virtual type of the handpiece itself. The tool can be a surgical instrument (scalpel, syringe, etc.) or other device (such as a mirror, guide, or probe). The handpiece is connected to sensors that determine its position and orientation for controlling (displaying) the position of the tool in the virtual environment. Typically, one of the handpieces is mounted on a haptic feedback system through which the computer controls the force felt by the user through the handpiece.

[0006] A stationary U-shaped guide rail serves as a handrest for the dental student (user). In real dental surgery or treatment, dentists typically place their fingers on the patient's teeth and jaws, and therefore simulations using a single fixed U-shaped guide rail in known dental simulators are not realistic.

[0007] A visual display screen is positioned between the user's eyes and the handheld device and guide rails, presenting a virtual environment that shows a set of virtual teeth on a virtual jaw. Known simulators include a computer that controls the simulation and possesses the virtual environment, a display screen that displays the simulation environment, and one or two handheld devices connected to the computer to provide input / output. The simulation environment includes the subject and a virtual type of tool controlled by the handheld device. The tool can be a surgical instrument (scalpel, syringe, etc.) or other device (e.g., a mirror or probe). The handheld device is connected to sensors that determine its position for controlling the tool's location within the virtual environment. One of the handheld devices is mounted on a haptic feedback system, allowing the computer to control the forces felt by the user through the handheld device, thus achieving a more realistic simulation. Therefore, while the virtual type of the handheld device is displayed on the screen, the user cannot see their own fingers or hand, which is a drawback as it ignores important visual input from the user.

[0008] The aforementioned known dental simulator uses a haptic arm connected to the distal end of a medical (dental) handpiece (the end with an end effector, such as a head similar in shape to a dental handpiece) via a curved link using a rotating connector, allowing the handpiece to rotate about three substantially coincident orthogonal axes at or near the distal end. However, the distal end is the end that is manipulated in the workspace, and this known configuration has the disadvantage of having a haptic arm, and in particular, a link connecting the haptic arm to the handpiece protruding into the workspace.

[0009] EP2988288 discloses a medical surgery simulator according to the preamble of claim 1. Summary of the Invention

[0010] One objective is to provide a medical simulator that overcomes or at least reduces one of the aforementioned problems.

[0011] The foregoing and other objectives are achieved through the features of the independent claims. Further embodiments are apparent from the dependent claims, the specification, and the drawings.

[0012] According to the first aspect, a medical surgical simulator for simulating medical treatment or surgery is provided, the medical surgical simulator comprising:

[0013] A handheld device having a proximal end and a distal end, the handheld device being configured to be manipulated by a user in a workspace in a real space; a computer-controlled haptic arm, the haptic arm being configured to simulate medical surgery or treatment through haptic feedback, preferably haptic force feedback, from the handheld device having the haptic arm; and a mechanism connecting to the proximal end of the handheld device and to the haptic arm at a connection point on the haptic arm.

[0014] The mechanism includes a first parallel four-bar linkage connected to a second parallel four-bar linkage, the mechanism being configured to allow the handheld component to rotate about three orthogonal axes intersecting at a common point in the workspace.

[0015] The common point is a fixed position relative to the connecting position, such that the common point moves in the same direction as the connecting position, and

[0016] The common point is located at a fixed distance from the connection point.

[0017] The mechanism allows the handpiece to be attached at its proximal end while keeping the axis of rotation of the handpiece at or near its distal end (at the common point), and the attachment position on the haptic arm is a fixed distance from the common point.

[0018] The common point preferably corresponds to the tip of a virtual tool that is virtually connected to the distal end of the handheld component. Therefore, all rotations occur around the tip of the virtual tool.

[0019] In the case of a medical surgical simulator that is a dental simulator, the virtual tool is usually a virtual dental drill.

[0020] Users experience tactile feedback forces acting on the distal end, just as they would in a real medical procedure. Therefore, the mechanism allows the handpiece to protrude into the workspace with its distal end, while no other part connected to the tactile arm protrudes into the workspace. This helps improve the simulation of treatments or surgeries performed in the (deep) cavities of the human or animal body, which is the case for many types of medical treatments or surgeries. Furthermore, phantom body portions, such as phantom cavities, can be arranged where the handpiece protrudes with its distal end, and no other part connected to the tactile feedback arm risks being adjacent to a prosthetic portion (and thus compromising the realism of the simulation). Another example of a phantom portion could be a phantom adjacent to a virtual tooth, which can act as a realistic finger rest for the user. Thus, the simulation becomes more realistic and can be performed within the recesses or cavities formed by the phantom body portions.

[0021] According to the possible implementation of the first aspect, the common point is located at a fixed distance (D) from the connection location.

[0022] According to a possible implementation of the first aspect, the handheld device represents a real medical handheld device having a real proximal end and a real distal end, the real distal end being shaped similarly to a real distal end and configured to have a real end effector. In the medical simulator, the end effector is a virtual end effector.

[0023] According to a possible implementation of the first aspect, the distal end represents the distal end of a real medical handheld device.

[0024] Based on the possible implementation of the first aspect, the shape and size of the handheld device are similar to those of a real medical handheld device.

[0025] According to a possible implementation of the first aspect, the connection point is at the free end of the tactile arm.

[0026] On the one hand, the computer is configured to provide a virtual environment, which includes a virtual end effector that simulates a real end effector.

[0027] According to a possible implementation of the first aspect, the distal end is where a simulated force from a virtual end effector is perceived as acting on the end of the handpiece.

[0028] According to a possible embodiment of the first aspect, the handheld component is shaped and sized like a dental drill, and the distal end is shaped like a dental drill bit, and the medical procedure or treatment is preferably a dental procedure or treatment.

[0029] According to a possible implementation of the first aspect, the computer is configured to simulate medical surgery or treatment by responding to force feedback from a user's manipulation of a handheld device in the workspace.

[0030] Based on the possible implementation of the first aspect, the common point and the distal end basically coincide.

[0031] According to a possible implementation of the first aspect, the agency provides a remote common rotation center for multiple axes of the handheld component.

[0032] According to a possible implementation of the first aspect, the first parallel four-bar linkage is operatively coupled to the second parallel four-bar linkage to allow the handpiece to rotate about a second axis coinciding with a common point.

[0033] According to a possible implementation of the first aspect, the second parallel four-bar linkage is connected to the tactile arm via a second rotary connector, the second rotary connector allowing rotation about a third axis parallel to the tactile arm, and the third axis preferably coinciding with a common point.

[0034] According to a possible embodiment of the first aspect, the mechanism includes a first arm connected to the proximal end via a rotatable connector that allows the handheld component to rotate about a first axis coinciding with the longitudinal axis of the handheld component, the first arm preferably being part of a first pair of parallel arms of a first parallel four-bar linkage.

[0035] According to a possible embodiment of the first aspect, the haptic arm includes a linkage mechanism, the linkage mechanism including a main link operably coupled to a reference via an actuator, the main link including a three-dimensional force sensor for sensing forces applied by a user to a handpiece in three dimensions, the three-dimensional force sensor being disposed between the connection position and any position where the actuator is connected to the main link, and the three-dimensional force sensor preferably being a component of the main link.

[0036] According to a possible implementation of the first aspect, the first rotating connector is provided with a rotational position sensor for sensing the rotational position of the handheld component relative to the first arm.

[0037] According to a possible implementation of the first aspect, the handheld device is equipped with an inertial measurement unit.

[0038] According to a possible implementation of the first aspect, the medical surgical simulator includes a phantom maxilla and a phantom mandible, preferably as part of a phantom head, wherein the phantom mandible is arranged at a jaw angle to the phantom maxilla, the jaw angle not exceeding 55°, preferably not exceeding 50°, and even more preferably not exceeding 45°, and the connection position is located below the mandible, preferably located inside and below the mandible.

[0039] According to a possible implementation of the first aspect, the mandible is arranged to pivot relative to the maxilla between a closed position and an open position, and the maximum angle between the maxilla and mandible is limited to no more than 55°, preferably no more than 50° and even more preferably no more than 45°.

[0040] According to the possible implementation of the first aspect, the default orientation of the phantom head corresponds to the patient's position in a fully tilted dental chair, i.e., the patient's face is basically upward.

[0041] According to a possible implementation of the first aspect, power is supplied to the rotation axis of the handpiece and the torque applied to the handpiece is controlled to provide tactile feedback regarding the orientation of the handpiece.

[0042] According to a possible implementation of the first aspect, the force sensor is associated with a handheld device, preferably a torque sensor and more preferably a three-dimensional torque sensor.

[0043] According to a possible implementation of the first aspect, the computer is configured to simulate medical procedures or treatments using a haptic arm for haptic feedback, preferred haptic force control feedback, and a display screen for visual feedback.

[0044] According to a possible implementation of the first aspect, the connection point on the tactile arm is at or near the end of the tactile arm.

[0045] According to a possible implementation of the first aspect, the medical surgical simulator includes a reference element, wherein the tactile arm linkage provides at least six independent degrees of freedom at the connection position relative to the reference element.

[0046] According to a possible embodiment of the first aspect, the handheld component includes a handle portion that extends from the proximal end to the distal end and is connected to the mechanism at its proximal end.

[0047] According to a possible implementation of the first aspect, the tactile arm has a controlled end, wherein the connection position is at or near the controlled end.

[0048] According to a possible implementation of the first aspect, the medical surgical simulator includes a display screen, and wherein a computer is configured to display a virtual environment on the display screen, the virtual environment including at least a virtual handheld device equipped with a virtual end effector, and the computer is configured to co-position the virtual handheld device and the virtual end effector with the handheld device.

[0049] According to a second aspect, a mechanism is provided for connecting a handpiece of a medical simulator according to the first aspect or any possible implementation thereof to a haptic arm of the medical simulator, the mechanism comprising: a first arm for connecting to the handpiece via a first rotatable connector, the first rotatable connector allowing the handpiece to rotate about a first axis coinciding with the longitudinal axis of the handpiece, the first arm being part of a first parallelogram-bar linkage operably connected to a second parallelogram-bar linkage to allow the handpiece to rotate about a second axis, the second parallelogram-bar linkage including a second arm for connecting to the haptic arm via a second rotatable connector, the second rotatable connector allowing the handpiece to rotate about a third axis parallel to the haptic arm.

[0050] According to a possible implementation of the second aspect, the mechanism includes a real handheld device having a real proximal end and a real distal end, the real distal end being similar in shape and size to the distal end of a real medical handheld device, which is configured to be provided with a real end effector to perform medical treatment or surgery.

[0051] According to the possible implementation of the second aspect, the distal end represents the actual distal end of the actual medical handheld device.

[0052] According to the possible implementation of the second aspect, the shape and size of the handheld device are similar to those of a real medical handheld device.

[0053] According to the possible implementation of the second aspect, the distal end is the end of the handpiece to which a simulated force from the virtual end effector acts.

[0054] According to a possible implementation of the second aspect, the handpiece is shaped and sized like a dental drill, and the distal end is shaped like a dental drill bit, and the medical procedure or treatment is preferably a dental procedure or treatment.

[0055] According to the possible implementation of the second aspect, the second axis and the third axis form a certain angle, preferably a right angle.

[0056] According to the possible implementation of the second aspect, the first, second and third axes substantially coincide at a common point at or near the distal end.

[0057] According to the possible implementation of the second aspect, the common point moves in unison with the second rotating connector.

[0058] According to a possible implementation of the second aspect, the first axis, the second axis, and the third axis intersect at a position in space that is fixed relative to the second rotating connector and at a fixed distance from the second rotating connector.

[0059] According to a possible implementation of the second aspect, the first parallel four-bar linkage includes a first pair of parallel links and a first pair of parallel arms.

[0060] The second parallel four-bar linkage includes a second pair of parallel links and a second pair of parallel arms.

[0061] The first pair of parallel arms is formed by a first arm and an arm formed by an extension of one of the links in the second pair of parallel links, and

[0062] The second pair of parallel arms is formed by the second arm and the arm formed by the extension of one of the links in the first pair of parallel links.

[0063] According to a possible implementation of the second aspect, one link of the first pair of parallel links and one link of the second pair of parallel links are formed by two parallel members spaced apart in the direction of the second axis, and these two parallel members are preferably interconnected by a support.

[0064] According to the possible implementation of the second aspect, the link in the first pair of parallel links is kinked.

[0065] According to a possible implementation of the second aspect, the mechanism is balanced by one or more elastic members operably connected to the mechanism, the elastic members preferably being long elastic ropes or cables.

[0066] According to a possible implementation of the second aspect, the first parallel four-bar linkage and / or the second parallel four-bar linkage are surrounded by a covering.

[0067] According to a possible implementation of the second aspect, the links of the first parallel four-bar linkage and the links of the second parallel four-bar linkage move in parallel planes.

[0068] The first and second parallel four-bar linkages are planar four-bar linkages.

[0069] These and other aspects will become apparent from one or more implementations described below. Attached Figure Description

[0070] In the following detailed sections of this disclosure, aspects, implementations, and practices will be explained in more detail with reference to exemplary embodiments shown in the accompanying drawings, wherein:

[0071] Figure 1 This is a top view of a medical surgery simulator according to an embodiment.

[0072] Figure 2 It is based on Figure 1 A side view of a medical surgery simulator.

[0073] Figure 3 yes Figure 1 The front view of the display housing of the dental surgery simulator.

[0074] Figure 4 Through Figure 3 The cross-sectional view of the display housing also illustrates the workspace, the user's eye, and the visual space.

[0075] Figure 5 From the user's perspective, through the semi-transparent mirror inside the display case... Figure 1 A top-down view of the workspace of the dental surgery simulator, also showing the virtual environment reflected from a semi-transparent mirror.

[0076] Figure 6 It is by Figure 1 Images of a mixed reality virtual environment displayed by a dental surgery simulator.

[0077] Figure 7 yes Figure 1 A top view of the phantom head and its mounting system used in a dental surgery simulator, including a specific phantom mandible and a specific phantom maxilla.

[0078] Figure 8 yes Figure 7 A side view of the head of the phantom.

[0079] Figure 9This is a side view of the mandrel head, showing the workspace between the jaws of the mandrel head and the handpiece and its connection. Figure 1 The mechanism of the haptic arm in a medical surgical simulator.

[0080] Figure 10 Is it like this? Figure 1 A top view of an embodiment of the linkage mechanism, its drive system, and the handheld component connected to the linkage mechanism used in a medical surgical simulator.

[0081] Figure 11 yes Figure 10 A front view of the linkage mechanism, its drive system, and the handheld component connected to the linkage mechanism.

[0082] Figures 12 to 14 yes Figure 10 A side view of the linkage mechanism and its drive system, and a handheld component connected to the linkage mechanism via the mechanism, wherein the handheld component is in different orientations.

[0083] Figures 15 to 17 yes Figure 10 A top view of the linkage mechanism and its drive system, and a handheld component connected to the linkage mechanism via the mechanism, wherein the handheld component is in different orientations.

[0084] Figure 18 This is a side view of the mechanism and handheld component according to the embodiment.

[0085] Figure 19 yes Figure 18 Top view of the mechanism and handheld components.

[0086] Figure 20 yes Figure 1 The diagram of the dental surgery simulator also shows the user's eyes and visual space, as well as

[0087] Figure 21 This is a schematic diagram of an implementation of a control system that can be used in a dental surgery simulator. Detailed Implementation

[0088] Refer to the attached diagram, especially Figures 1 to 9Figures 20 and 20 illustrate an embodiment of a medical surgical simulator 1, particularly a dental surgical simulator for simulating dental procedures and treatments. The medical surgical simulator 1 is intended for training the skills and abilities of medical professionals or students. In the case of the dental surgical simulator, it is intended for training the skills and abilities of dentists, dental surgeons, oral surgeons, maxillofacial surgeons, dental hygienists, and dental therapists. Users receiving training on the dental surgical simulator can be students or professionals. A dental surgical simulator typically includes a first handpiece 30, in this embodiment representing a dental drill handle; a base 2, in this embodiment a base having a lower housing housing a computer 80; a column 3, in this embodiment a height-adjustable column; a main housing 4 housing a linkage mechanism connected to the first handpiece 30; a mannequin head 10; and a support arm 5 supporting a display housing 6. In this embodiment, the first handpiece 30 is similar in shape and size to a real dental handpiece. The first handpiece 30 has a proximal end 39 and a distal end 31, and includes a handle portion extending from the proximal end 39 to the distal end 31.

[0089] Arm 5 also carries a mirror tool 60, which includes a linkage mechanism forming the passive arm and a second handpiece 61 of a simulated dental mirror attached to the free end of the passive arm.

[0090] In this embodiment, the base 2 is a wheeled base, allowing the medical surgical simulator 1 to be easily rolled to another position by the user. The column 3 extends from the base 2 to the main housing 4 and supports the main housing 4.

[0091] The head 10 of the model is suspended on the front side of the main housing 4, and the housing 6 is suspended on the main housing 4 by the support arm 5.

[0092] The medical surgical simulator 1 includes a lower housing in which a computer 80 is disposed, along with a power supply for the computer 80 and other electronic components of the medical surgical simulator 1. In some embodiments, the medical surgical simulator 1 includes more than one computer.

[0093] The computer 80 has memory and a processor. The processor is configured to execute software stored in the memory, and in particular, the software is configured to simulate medical procedures or treatments.

[0094] The computer 80 is connected to the display screen 9, the model in the workspace, and a linkage mechanism mounted to the main housing 4, and is connected via the linkage mechanism to a first handheld component 30 also arranged in the workspace W (or at least the first handheld component 30 protrudes to its distal end 31 in the workspace W). Linkage mechanism (see below) Figure 10 and 11(Detailed description) Mechanically connected to the first handpiece 30 via mechanism 100. The workspace W is a three-dimensional space in the real world, and the tip (distal end 31) of the first handpiece 30 can be manipulated by the user within the workspace W without being constrained by the linkage mechanism (constraints caused by the orthogonal direction range of the linkage mechanism end to which the first handpiece 30 is connected in real space).

[0095] The model represents a portion of the subject (e.g., the maxilla and mandible 13 and 14 of the phantom, with or without a set of phantom teeth and with or without a phantom head 10) and provides the necessary mechanical environment for the performance of medical procedures or treatments. For example, during surgery, a surgeon / dentist may place his hands on the phantom jaws 13 and 14, the phantom teeth 22 and / or the phantom head 10.

[0096] The speed of the first handpiece 30 is adjusted in response to the force applied to the first handpiece 30 by the user and the interaction between the virtual drill or dental handpiece 30' and the virtual teeth of a jaw virtual model having one or more virtual teeth 29. The virtual environment includes measures for determining how the speed of the virtual dental handpiece 30' should respond to the sum of the x, y, z forces applied by the user to the first handpiece 30 (from the 3DoF sensor 50, see [link]). Figure 10 and 11 The algorithm modifies the virtual environment based on any reaction forces arising from the virtual contact between the virtual drill or dental handpiece 30' and the virtual tooth. The virtual environment uses Newtonian physics (i.e., force = spring constant × deflection) in some respects to simulate the reaction forces between the virtual drill 30' and the virtual tooth, while using a standard PID control loop to determine the velocity variation of the first handpiece 30. The virtual tooth is assigned stiffness and rigidity. The stiffness is related to the spring constant provided by the tooth at contact, and the stiffness is related to how much work the virtual drill must do to drill away the volume of the virtual tooth. The position of the real drill (first handpiece) 30 is used to determine whether it contacts the virtual tooth.

[0097] Once the virtual environment calculates the virtual force acting on the virtual drill 30', it commands that force to a standard PID control loop, which controls the speed of the actuators in the system (described in further detail below) to alter the real-world speed of the first handpiece 30. The user senses the movement of the first handpiece 30. While the speed of the first handpiece 30 is controlled by the dental surgery simulator, the orientation of the first handpiece 30 is controlled by the user (in an embodiment (not shown), the orientation of the handpiece 30 is powered by motors along three axes to obtain a 6-DoF active version of the simulator; in this embodiment, the torque applied to the handpiece is also measured in three dimensions). The system measures the orientation of the user-controlled first handpiece 30 and updates the orientation of the virtual drill 30' in the virtual environment in response.

[0098] A movable, suspended phantom head 10 is used to adjust the orientation of the virtual environment displayed on the monitor 9. The orientation of the phantom head 10 can be adjusted manually, and the orientation of the virtual model is also adjusted accordingly using a sensor connected to the computer 80 that measures the rotation of the phantom head 10. Therefore, the phantom head 10 and the virtual phantom head / or only the phantom head are co-located and linked. When the user rotates the physical phantom head 10, the virtual head rotates in the scene. The phantom head 10 is an intuitive control for the orientation of the virtual model.

[0099] Computer 80 provides an interface to the user for selecting different virtual environments for surgery and treatment to be simulated and running various training software applications. The training applications monitor the user's interaction with the virtual environment and the first handheld device 30 and measure various criteria to evaluate the user's performance.

[0100] Now especially referencing Figures 3 to 6 The viewing housing 6 is provided with a display screen 9 facing the rear of the display housing 6. An observation opening or window 8 on the upper side of the display housing 6, facing the front end of the display housing 6, allows the user to see a partially transparent reflective element 7 from the viewing area V. The partially transparent reflective element 7 is located on the lower side of the display housing 6, facing the front end of the display housing 6, and allows the user to see the workspace W from the viewing area V through the partially transparent reflective element 7. The partially transparent reflective element 7 is arranged such that the image displayed on the display screen 9 is reflected to the user's eyes, while the workspace W is simultaneously visible to the user through the partially transparent reflective element 7 (assuming the user's eyes are in the viewing area V and the user is looking at the partially transparent reflective element 7). Therefore, from the user's perspective, the virtual image of the virtual environment and the real image of the workspace W are blended together.

[0101] 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 handheld component 30. This allows the system to generate an image of a virtual dental drill 30' that is aligned with the real-world first handheld component 30 in the user's line of sight.

[0102] The dental surgery simulator is configured to reflect images from the display screen 9 to the user's eyes through reflections on the partially transparent reflective element 7 and is configured to blend images of the virtual environment with the user's view of the workspace W seen through the partially transparent reflective element 7.

[0103] Therefore, the image on the display screen 9 is reflected to the user's eyes, and when the user views the semi-reflective element 7 from the viewing space V, the user simultaneously sees the workspace W through the partially transparent reflective element 7.

[0104] In one 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 another embodiment, the display screen 9 is an auto-stereoscopic display screen 9. In yet another embodiment, the display screen 9 is a stereoscopic display screen where the level of stereoscopic effect is adjustable so that it can be adjusted to the optimal level for a particular user.

[0105] The computer 80 is configured to provide a three-dimensional virtual environment, including a first virtual tool 30' having a first virtual position and a first virtual orientation, the first virtual tool 30' corresponding to the handheld component 30 in size and shape and being co-located with the handheld component 30.

[0106] Computer 80 sends images simulating dental surgery or treatment to display screen 9. The images on the display screen are reflected to the user's eyes via a semi-transparent reflective element 7 (such as a semi-transparent mirror, for example) (assuming the user's eyes are located within visual space V and the user is facing the semi-transparent reflective element 7). Visual space V is a three-dimensional space where the user can simultaneously observe the images from display screen 9 through the reflection of the semi-transparent reflective element 7 and observe objects in workspace W through the semi-transparent reflective element 7.

[0107] The software is configured to present a virtual environment comprising at least one virtual object (such as, for example, a virtual tooth), all of which are visible to the user via a partially transparent reflective element 7. In this embodiment, the virtual environment includes a virtual tool, in this embodiment a virtual dental drill 30', which corresponds to a real-world tactile drill handle 30, along with a virtual end effector, namely a virtual dental drill 33.

[0108] Now for special reference Figure 7 and Figure 8 The maxillary mandible 13 and mandible 14 are supported by the structure of the dental surgery simulator and arranged in the workspace W. The mandible 14 is arranged to be (manually) movable relative to the maxillary mandible 13. The mandible 14 is suspended from the maxillary mandible 13 by a hinge mechanism 15 (a four-bar linkage in this embodiment). Preferably, the hinge mechanism 15 mimics the movement of a human jaw to make the model realistic.

[0109] The mandible 14 is suspended from the mandible 13 to allow movement between a fully open position (shown in the figure) and a closed position (not shown). A position sensor (not shown) is configured to generate a signal indicating the position of the mandible 14 relative to the mandible 13 and is data-connected to a computer 80. Software is configured to adjust the position of the virtual mandible based on the signal from the position sensor.

[0110] The mandible maxilla 13 is suspended from a support structure to allow rotation in three degrees of freedom, with the center of rotation for each degree of freedom located between the mandible maxilla 13 and the mandible maxilla 14, i.e., at the center of the workspace W, such that the mandible maxilla 13 rotates without leaving the workspace W. Three rotational position sensors (not shown) are provided for sensing the rotation of the mandible maxilla 13 in each of the three degrees of freedom. The computer 80 receives signals from the three rotational position sensors. The software is configured to adjust the simulation of a dental procedure or treatment based on the signals from the rotational position sensors; in particular, the software adjusts the orientation and position of the virtual maxilla.

[0111] The mandible 14 of the model can be manually rotated relative to the mandible 13 of the model. The angle between the mandible 13 of the model and the mandible 14 of the model is limited to no more than 55°, preferably no more than 50°, and even more preferably no more than 45°, to reflect the limitation of the maximum jaw opening of a real patient.

[0112] In this implementation, the default orientation of the phantom head 10 corresponds to the patient's position in a fully tilted dental chair, i.e., the patient's face is essentially upward. The phantom head 10 can be manually rotated about three axes, the degree of rotation reflecting the potential for rotation of the real patient's head relative to their body.

[0113] The maxilla 13 of the phantom can be provided with a detachable universal phantom maxillary element (not shown) detachably attached thereto, and the mandible 14 of the phantom can be provided with a detachable universal phantom mandible element (not shown) detachably attached thereto. In an embodiment, the universal phantom jaw element does not have phantom teeth, but has a more general form that roughly corresponds to the shape of a jaw with teeth.

[0114] In the illustrated embodiment, the maxillary mandible 13 is provided with a specific maxillary mandible element 21, and the mandibular mandible 14 is provided with a specific mandibular mandible element 20. Both the specific mandibular mandible element 20 and the specific maxillary mandible element 21 are provided with mandible teeth 22. The mandible teeth 22 are removably attached by insertion of the mandible teeth 22 into specific recesses 23 in the specific maxillary or mandibular elements 20, 21. In this embodiment, the specific mandibular and maxillary elements 20, 21 having their mandible teeth 22 are accurate models of a portion of a real human maxilla having its upper teeth and a mandible having its lower teeth. One or more mandible teeth 22 are removed to provide space for the first handpiece 30 to move without obstruction from the associated one or more mandible teeth 22. Figures 7 to 8In this configuration, one phantom tooth 22 has been removed as an instance, and the recesses 23 in the associated phantom jaws 20 and 21 are empty. The user can use the remaining phantom tooth 22 to support their hand and / or fingers. The virtual tooth to be operated on is the virtual tooth corresponding to the position of the recess 23. Therefore, since no phantom tooth 22 is provided at the location of the virtual tooth, there is no risk that the first handpiece 30 will be adjacent to the phantom tooth 22 in the real world.

[0115] When using specific phantom maxillary and / or mandibular elements 20, 21, computer 80 provides virtual models of the specific phantom mandibular element 20 and / or the specific maxillary element 21. Computer 80 instructs the user which jaw element (general or specific) to install for a given exercise. Therefore, computer 80 is configured to instruct the user to install a general maxillary or mandibular element (not shown) or a specific phantom maxillary or mandibular element 20, 21.

[0116] exist Figure 7 and 8 In the embodiment shown, the mandible maxilla 13 and mandible mandible 14 are part of the mandible head 10. The mandible head 10 and its mandible mandible 14 and mandible maxilla 13 are movably arranged relative to the support structure of the dental surgery simulator, and the mandible head 10 and its mandible mandible 14 and mandible maxilla 13 move in unison with each other.

[0117] Figure 9 The distal end 31 of the first handpiece 30 is shown to protrude into the workspace W between the mantissa maxilla 13 and mantissa mandible 14. Since the first handpiece 30 is suspended from its proximal end 39 to the tactile arm 40, inserting the distal end 31 into the cavity between the mantissa maxilla 13 and mantissa mandible 14 is not a problem, and there is no risk that any part of the tactile arm (including mechanism 100) will be adjacent to the mantissa maxilla 13 or mantissa mandible 14.

[0118] Now for special reference Figure 10 and 11 The illustration depicts a linkage mechanism controlled by a computer 80 to simulate a medical procedure or treatment. The linkage mechanism includes a main link 41 (in this embodiment, an elongated straight member) and a first handheld member 30 connected to the front end of the main link 41 via a mechanical connector having at least two degrees of freedom, which will be explained in more detail below. In this embodiment, the front end of the main link 41 is the controlled end of the main link 41. The controlled end of the tactile arm is formed by the distal end 31 of the first handheld member 30.

[0119] The linkage mechanism 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 axes of rotation of the first, second, and third cranks 42, 44, and 46 may be arranged orthogonally to each other in the embodiment (not shown).

[0120] The axis of rotation of the first crank 42 extends substantially vertically. The first crank 42 is directly connected to the main connecting rod 41 at a first position located at or near the rear end of the main connecting rod 41 via a hinge with two degrees of freedom, such as a universal joint.

[0121] The second crank 44 is connected to the main connecting rod 41 via a first horizontally extending connecting rod 43, and the third crank 46 is connected to the main connecting rod 41 via a second vertically extending connecting rod 45. The first crank 42 is arranged to actuate the main connecting rod 41 in the first (horizontal) axial direction X. The second crank 44 is arranged to actuate the main connecting rod 41 in the second (horizontal) lateral direction Y, and the third crank 46 is arranged to actuate the main connecting rod 41 in the second (vertical) lateral direction Z.

[0122] The first link 43 is connected to the main link 41 at a second axial position between the front end and the first position, and the second link 45 is connected to the main link 41 at a third axial position between the front end and the first position. In this embodiment, the second and third axial positions substantially coincide.

[0123] The main link 41 includes a three-dimensional force sensor (3DoF sensor) 50 for sensing the force applied by the user to the first handheld component 30 in three dimensions. The three-dimensional force sensor 50 is positioned between the front limit position and the second and / or third axial direction position, and the three-dimensional force sensor 50 is preferably an integral part of the main link 41. The three-dimensional force sensor 50 is coupled to the computer 80.

[0124] The first, second, and third cranks 42, 44, and 46 are connected (directly or to a rotary motor driving the respective cranks) to the corresponding first, second, and third rotary position sensors or encoders 26, 27, and 28, which are data-connected to a computer 80. In the illustrated embodiment, the rotation axes of the second crank 44 and the third crank 46 both extend horizontally and parallel. However, in the main embodiment, the rotation axes of the second crank 44 and the third crank 46 also extend horizontally and are at an angle to each other, for example, a right angle.

[0125] The first, second, and third cranks 42, 44, and 46 are mounted on a reference member 51 (e.g., a frame or base). The reference member 51 is supported by the main housing 4 or by the support structure of the dental surgery simulator.

[0126] The linkage mechanism is connected to the first handpiece 30 and the reference member 51 via mechanism 100, and the linkage mechanism provides the first handpiece 30 with six independent degrees of freedom relative to the reference member 51. The arrangement of the linkage mechanism results in the workspace W being shaped as a cuboid with a horizontal top and bottom.

[0127] Mechanism 100 includes a first parallel four-bar linkage 110 coupled to a second parallel four-bar linkage 120. The proximal end 39 of the first handpiece 30 is connected to the first arm 102 of a pair of parallel arms of the first parallel four-bar linkage 110. The third arm 126 of the second pair of parallel arms of the second parallel four-bar linkage 120 is connected via a rotatable connector 154 to the controlled end of the main link 41 (see [link]). Figures 12 to 19 ).

[0128] like Figures 12 to 19 As shown, mechanism 100 allows the first handheld member 30 to pivot about three orthogonal axes A1, A2, and A3 intersecting a common point CP in space near the distal end 31 of the first handheld member 30. The common point CP is located within the workspace W and has a fixed position relative to the connection position 59, such that the common point CP moves in unison with the connection position 59. The common point CP is located at a fixed distance D from the connection position 59. In this embodiment, the connection position 59 is at the controlled end of the tactile arm 40, which in this embodiment is the free end of the main link 41.

[0129] Now for special reference Figure 18 and 19 They illustrate the mechanism 100 and the first handpiece 30 in more detail.

[0130] The first handpiece 30 has a proximal end 39 and a distal end 31. The distal end 31 has a head 32. The shape and size of the head 32 are similar to the drill bit of a real dental handpiece. The drill bit of the real dental handpiece is configured to receive and drive a real dental drill. A virtual dental drill 33 (...) is generated via virtual environment software running on the computer 80. Figure 6 It is co-located with head 32.

[0131] The first rotating connector 54 connects the first handpiece 30 to the first arm 102 and allows the first handpiece 30 to rotate about a first axis A1 that coincides with the longitudinal axis of the first handpiece 30.

[0132] The first rotating connector 54 connects the first hand-held member 30 to the first arm 102. The first arm 102 is part of the first parallel four-bar linkage 110. The first parallel four-bar linkage 110 includes the parallel first arm 102 and the second arm 106.

[0133] In this embodiment, the upper / outer halves of the first pair of parallel links 104 are formed by two parallel, laterally spaced tubes. The first arm 102 is shaped like a yoke to allow it to connect to the two parallel, laterally spaced tubes of the upper / outer halves of the first pair of parallel links 104. The links of the first pair of parallel links 104 are kinked such that they do not collide with the first handgrip 30 when it is oriented in a nearly horizontal position and the distal end 31 of the first handgrip 30 points towards the connection point. Figure 14 As shown in the diagram, the yoke-shaped first arm ensures that the kinked portion of the upper / outer half of the first pair of parallel links 104 does not collide with the kinked portion of the lower / inner half of the first pair of parallel links 104.

[0134] In this embodiment, the lower / inner half of the first pair of parallel connecting rods 104 is formed by a single tube.

[0135] The first parallel four-bar linkage 110 is thus formed by a pair of parallel first arms 102 and second arms 106 together with a first pair of parallel links 104, all of which are connected to each other by hinged connectors.

[0136] The second parallel four-bar linkage 120 is formed by a pair of parallel third arms 126 and fourth arms 122 and a second pair of parallel links 124, all of which are connected to each other by hinged connectors.

[0137] In this embodiment, the fourth arm 122 is formed by two parallel tubes that are extensions of the upper / outer portions of the first pair of parallel links 104. The second arm 106 is an extension of the lower / inner portions of the second pair of parallel links 124. Thus, the first parallel four-bar linkage 110 and the second parallel four-bar linkage 120 are interconnected and allow the distal end 31 of the first handpiece 30 to rotate about the second axis A2.

[0138] The lower / inner half of the second pair of parallel links 124 is similar to the lower half of the first pair of parallel links 104 formed by a single tube. The upper / outer half of the second pair of parallel links 124 is similar to the upper half of the first pair of parallel links 104 formed by two laterally spaced tubes. Therefore, the shape of the third arm 126 is similar to a yoke, allowing it to connect to the two laterally spaced tubes of the upper / outer half of the second pair of parallel links 124.

[0139] The first support member 119 connects a pair of laterally spaced tubes in the upper half of the first pair of parallel links 104, and the second support member 129 connects a pair of laterally spaced tubes in the upper / outer half of the second pair of parallel links 124.

[0140] Parallel links 104 and 204 are formed by a pair of laterally spaced tubes or rods on the inside or outside, or both, to increase the stiffness of arm / mechanism 100. If this stiffness is not required, parallel links 104 and 204 may be formed by a single tube, rod, or equivalent element.

[0141] The first lateral spacer 113 is located at the kink position of the upper / outer half of the first pair of parallel links 104.

[0142] The second arm 106 is T-shaped to serve as a lateral spacer and is hinged to the tubes forming the upper / lower halves of the first pair of parallel links 104, which are connected to the tubes forming the fourth arm 122.

[0143] The second transverse spacer 123 is arranged at the hinge connection between the tube of the fourth arm 122 and the tube forming the upper / outer half of the second pair of parallel links 124.

[0144] The third lateral spacer is arranged between the tubes forming the upper / outer halves of the second pair of parallel links 124, near the position where these tubes are hinged to the third arm 126.

[0145] In this embodiment, the third arm 126 forms a support 128 connected to the main link 41 via a second rotary connector 154. The second rotary connector 154 allows the complete mechanism 100 to rotate about a third axis A3. In this embodiment, a second rotational movement sensor (not shown) is associated with the second rotary connector 154 and data-connected to a computer 80 to notify the computer 80 of the rotation of the first handpiece 30 about the third axis A3.

[0146] The mechanism 100 is constructed to allow the user to change the orientation of the first handheld component 30 without significant resistance by rotating the distal end 31 about the first, second, and third axes A1, A2, A3. The effects of the weight of the mechanism 100 and the first handheld component 30 are offset / balanced in the embodiment by a compensation mechanism. Embodiments of the compensation mechanism include counterweights and / or elastic elements.

[0147] The mechanism allows the first handpiece 30 to be associated at its proximal end 39 with the rotation axes A1, A2, A3 of the first handpiece 30 arranged at or near the distal end 31, and to be associated with a connection position on the tactile arm 40 having a fixed distance D and relative position to the distal end 31.

[0148] The first, second, and third axes A1, A2, and A3 intersect at a position in space that is fixed relative to the second rotating connector 154 and at a fixed distance D from the second rotating connector 154.

[0149] Mechanism 100, together with the first rotary connector 54 and the second rotary connector 154, adds three degrees of freedom to the six degrees of freedom provided by the haptic arm 40, thereby providing six degrees of freedom (three translational degrees of freedom plus three rotational degrees of freedom) for the first handheld component 30.

[0150] Therefore, the distal end 31 rotates about the common point CP. In this embodiment, the common point CP corresponds to the tip of the virtual drill 33, which is virtually connected to (co-located with) the distal end 31. In this case, all rotations occur around the tip CP of the virtual drill 33. Therefore, the user experiences tactile force feedback as if the force were acting on the distal end 31 or the tip of the virtual end effector, just as they would in a real medical procedure (at the distal end of a real tool or the distal end of a real end effector). Furthermore, all translations are performed through a plane intersecting CP, so no torque arm of CP is recorded, ensuring that the user only feels the appropriate translational and rotational forces.

[0151] For accurate simulation, mechanism 100 should be rigid, i.e., stiff, so that it hardly bends when force is applied to the first handpiece 30. Furthermore, mechanism 100 should be lightweight so that its mass inertia has as little impact as possible on the simulation and user experience.

[0152] Therefore, mechanism 100 should be both lightweight and rigid. Thus, in this embodiment, the first pair of parallel links 104 and the second pair of parallel links 124 are preferably formed of hollow tubular members and made of a lightweight material with a high Young's modulus, such as a fiber-reinforced material including carbon fibers. The same construction material can be used for the fourth arm 122.

[0153] The first arm 102, the second arm 106, the third arm 126, the first lateral spacer 113, the second lateral spacer 123, and the third lateral spacer 125, as well as the supports 119 and 129, are preferably made of a polymer material, possibly a fiber-reinforced polymer material, or a lightweight metal such as, for example, aluminum. Both polymer materials and lightweight metal types can be used in 3D printed products.

[0154] In one embodiment, the first inertial measurement unit 52 is integrated into the first handheld device 30.

[0155] In one embodiment, a rotational position sensor (not shown) senses the rotational movement of the first handheld member 30 relative to the first arm 102 about the first rotating connector 54.

[0156] The first inertial measurement unit 52 and / or the rotational position sensor are connected to the computer 80 via a data cable or, alternatively, wirelessly, for the transmission of position and / or orientation data.

[0157] The first inertial measurement unit 52 is located within the first handheld component 30 and configured to measure translational acceleration, rotational speed, and magnetic field. Thus, the first inertial measurement unit 52 can also determine the velocity and displacement of the first handheld component 30 using data processing techniques known in the art. In one embodiment, the first inertial measurement unit 52 has nine sensors, including a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer. The first inertial measurement unit 52 is equipped with an embedded digital motion processor that acquires and processes data from the accelerometer, gyroscope, and magnetometer. The inertial measurement unit chip outputs a quaternion that describes the orientation in space relative to a reference element, such as in real space. This data output, along with a signal from a fourth rotational position sensor (not shown) in the handheld component, is transmitted along cable 58 to computer 80.

[0158] Before use, the first inertial measurement unit 52 is calibrated by placing the first handheld component 30 in a defined orientation, thereby aligning the universal reference component.

[0159] In this embodiment, the computer 80 is configured to simulate medical procedures or treatments using a linkage mechanism and its associated actuators 47, 48, 49 via tactile feedback, preferably tactile force feedback, and via visual feedback using a display screen 9. The computer 80 is thus configured to use signals from a three-dimensional force sensor 50 as input and to control the position of the linkage mechanism ends accordingly.

[0160] In an implementation, computer 80 includes software applications for providing a training platform, providing teaching materials and videos, recording, playback, and evaluating user performance; providing audio, video, and text communication with remote instructors via a computer network; providing the ability for remote instructors to provide force input to a tactile system; and providing various virtual objects (e.g., teeth, jaws, or a complete head), tools, and physical rules in a virtual environment.

[0161] In one implementation, computer 80 is configured to detect collisions between virtual dental drills 33 (using the actual position of the first handheld device 30) to determine the interaction force to be applied to the virtual drills based on the virtual drill position, the virtual drill model, and the virtual tooth model. Computer 80 is also configured to calculate the virtual drill speed based on the interaction force and user input (such as from a foot pedal).

[0162] In this implementation, the volume of a tooth model is represented as a set of three-dimensional pixels or voxels. Each voxel has an associated hardness value, representing the type / quality of the tooth material (i.e., dentin, enamel, and pulp). A traditional marching cubes algorithm is used to create a triangular mesh of isosurfaces for the set of voxels in the tooth model.

[0163] The virtual handheld component 30' is modeled through analysis or voxel modeling. Therefore, the physical model of the handheld component is a finite number of voxels, or a fully analytically defined shape. The handheld component model also has vector parameters for the handheld component's three-dimensional velocity. The virtual tool is equipped with a virtual dental drill 33. The virtual dental drill 33, or the virtual handheld component 30', can virtually contact a virtual tooth. The shape of the virtual dental drill is thus represented by voxels corresponding to the virtual tooth. The actual position of the first handheld component 30 is used to determine the position of the virtual dental drill 33 and the contact between the virtual dental drill 33 and the virtual tooth.

[0164] Now for special reference Figure 21 The control loops control the speed of the end of the main linkage 41 in one direction, thereby controlling the speed of the first handpiece 30. A total of three force control loops actively control three directions of movement (3DOF). The force control loops use the difference between the virtual force calculated by the virtual environment 90 and the actual force in one direction calculated by the force measured by the 3DoF (degrees of freedom) force sensor 50 at summing point 86. The output of summing point 86 is the input to a lead-lag compensator 87, which removes high frequencies and connects to a standard PI or PID controller 88. The PI or PID controller calculates the speed command for the motor driver 89. The motor driver 89 also receives signals from rotary position sensors (encoders) 26, 27, 28 and determines the actual speed of the handpiece 30 based on the position signals. The motor driver 89 electrically drives the first rotary actuator 47 (the motor drivers of the other two control loops drive the second rotary actuator 48 and the third rotary actuator 49). The motor driver uses the difference between the speed command from a PI or PID controller and the actual speed, which is calculated by measuring the actual position using position sensors (encoders) 26, 27, and 28 on the respective rotary actuators 47, 48, and 49. A differentiator 92, receiving the position signal, provides the actual speed as an output signal. The output of the differentiator 92 is provided to the motor driver 89 and the virtual environment 90. In this embodiment, the differentiator 92 is an integral part of the motor driver 89. The first, second, and third rotary actuators 47, 48, and 49 are connected to the first handheld component 30 via mechanism 100 and linkages connected to the aforementioned sensors (force, position, and orientation). Input from the foot pedal sensor 91 is used to determine the rotational speed of the virtual dental drill 33. In this embodiment, the virtual environment receives signals from the first inertial measurement unit 52 to determine the orientation of the first handheld component 30. The virtual environment 90 includes a dental drill model, a tooth model, and a jaw model, and uses the actual position and orientation of the first handheld component 30 to determine the position and orientation of the virtual dental drill 33. The virtual dental drill model and the virtual tooth model or jaw model are used to calculate the resulting virtual force, which is sent as a command to the return force control loop and applied to the first handpiece 30.

[0165] When starting the dental surgery simulator, the user positions herself in the chair (not shown) in front of the simulator. If display screen 9 is an autostereoscopic display, the user does not need to use shutter glasses or polarized glasses; otherwise, the user will wear shutter glasses or polarized glasses. Adjust the height of the main housing 4 appropriately to the user's ideal working height. The chair height can also be adjusted according to the user's needs.

[0166] The dental surgery simulator in this implementation is provided with a network connection via computer 80.

[0167] The computer 80 can be programmed to enhance the user experience through audio information delivered via speakers. Therefore, the training experience can be enhanced by providing instructions or feedback regarding user performance on the display screen 9 and via speakers.

[0168] The computer 80 has at least a first operating mode for simulating dental surgery or treatment using the handheld device 30 and a second operating mode for training dental surgery or treatment using a conventional electric dental handheld device 130.

[0169] In one embodiment, the first parallel four-bar linkage 110 and / or the second parallel four-bar linkage 120 are surrounded by a cover. This cover prevents the user's fingers from being accidentally caught between the components of the first and second parallel four-bar linkages.

[0170] In this disclosure, any reference to body parts, such as teeth, mandible, maxilla, or head, generally refers to the category of human beings for those body parts. Thus, in this disclosure, for example, a phantom mandible is a physical model of a human mandible, and for example, a virtual mandible is a virtual model of a human mandible.

[0171] Various aspects and implementations have been described in conjunction with various embodiments herein. However, by studying the accompanying drawings, disclosure, and appended claims, those skilled in the art can understand and implement other variations of the disclosed embodiments in practicing the claimed subject matter. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plural. A single processor or other unit may perform the functions of several items listed in the claims. The fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used advantageously. Computerized systems may be stored / distributed on suitable media, such as optical storage media or solid-state media provided together with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunications systems.

[0172] Reference figures used in the claims should not be construed as limiting the scope. Unless otherwise stated, the drawings are intended to be read in conjunction with the description (e.g., crosshairs, arrangement of parts, scale, degree, etc.) and are considered part of the entire written description of this disclosure. As used in the description, the terms “horizontal,” “vertical,” “left,” “right,” “up,” and “down,” and their adjective and adverbial derivatives (e.g., “horizontally,” “to the right,” “upward,” etc.), refer only to the orientation of the illustrated structure when the particular drawing is facing the reader. Similarly, the terms “inward” and “outward” generally refer to the orientation of a surface relative to its axis of elongation or axis of rotation, as applicable.

Claims

1. A medical surgical simulator (1) for simulating medical treatment or surgery, the medical surgical simulator (1) comprising: A first handpiece (30) having a proximal end (39) and a distal end (31), The first handheld device (30) is configured to be operated by a user in a workspace (W) in real space. A haptic arm (40) controlled by a computer (80), the haptic arm being configured to simulate medical procedures or treatments through haptic feedback from a first handpiece (30) having the haptic arm. Its features A mechanism (100) that connects to the proximal end (39) of the first handheld component (30) and to the tactile arm at a connection point (59) on the tactile arm. The mechanism (100) is configured to allow the first handheld component (30) to rotate about three orthogonal axes (A1, A2, A3) intersecting through a common point (CP) in the workspace (W), the common point (CP) being in a fixed position and distance relative to the connection position (59), such that the common point (CP) moves in unison with the connection position (59). The mechanism includes a first arm (102) connected to the proximal end (39) via a first rotatable connector (54) that allows the first handheld member (30) to rotate about a first axis (A1) coinciding with the longitudinal axis of the first handheld member (30). The mechanism (100) includes a first parallel four-bar linkage (110) operably coupled to a second parallel four-bar linkage (120) to allow the first handheld member (30) to rotate about a second axis (A2) coinciding with the common point (CP), and The second parallel four-bar linkage is connected to the tactile arm (40) via a second rotating connector (154), which allows rotation about a third axis (A3) parallel to the range of the tactile arm, the third axis coinciding with the common point (CP).

2. The medical surgical simulator (1) according to claim 1, wherein, The common point (CP) is substantially coincident with the distal end (31).

3. The medical surgical simulator (1) according to claim 1 or 2, wherein, The first arm (102) is part of the first pair of parallel arms of the first parallel four-bar linkage (110).

4. The medical surgical simulator (1) according to claim 1, wherein, The haptic arm includes a linkage mechanism, which includes a main link (41) operably connected to a reference member (51) via actuators (47, 48, 49). The main link (41) includes a three-dimensional force 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 connection position (59) and any position where the actuators (47, 48, 49) are connected to the main link (41).

5. The medical surgical simulator (1) according to claim 1, wherein, The first rotating connector (54) is provided with a rotation position sensor (53) for sensing the rotation position of the first handheld component (30) relative to the first arm (102).

6. The medical surgical simulator (1) according to claim 1, wherein a first inertial measurement unit (52) is arranged inside the first handheld component (30).

7. The medical surgical simulator (1) according to claim 1, comprising a mandible (13) and a mandible (14), wherein the mandible (14) and the mandible (13) are arranged at a jaw angle not exceeding 55°.

8. The medical surgical simulator (1) according to claim 7, wherein, The mandible is arranged to pivot relative to the maxilla between a closed position and an open position, wherein the angle of the mandible in the open position does not exceed 55°.

9. A mechanism (100) for connecting a first handpiece (30) of a medical surgical simulator (1) according to any one of claims 1 to 8 to a haptic arm (40) of the medical surgical simulator (1), said mechanism (100) comprising: A first arm (102) having a first rotatable connector (54) for connection to the first handheld member (30), the first rotatable connector allowing rotation of the first handheld member (30) about a first axis (A1) coinciding with the longitudinal axis of the first handheld member (30). The first arm (102) is part of a first parallel four-bar linkage (110), which is operatively connected to a second parallel four-bar linkage (120) to allow the first arm (102) to rotate about a second axis (A2). The second parallel four-bar linkage (120) includes a third arm (126) having a second rotary connector (154) for connection to the tactile arm (40), the second rotary connector (154) allowing the first arm (102) to rotate about a third axis (A3), and The three orthogonal axes (A1, A2, A3) intersect at the common point (CP) in the workspace (W).

10. The mechanism (100) according to claim 9, wherein the first, second and third axes substantially coincide at a common point (CP) at or near the distal end (31).

11. The mechanism (100) according to claim 9 or 10, wherein, The first, second and third axes intersect in space and are fixed relative to the second rotating connector (154) and at a fixed distance from the second rotating connector (154).

12. The mechanism (100) according to claim 9, wherein, The first parallel four-bar linkage (110) includes a first pair of parallel links (104) and a first pair of parallel arms. The second parallel four-bar linkage (120) includes a second pair of parallel links (124) and a second pair of parallel arms. The first pair of parallel arms is formed by the first arm (102) and an arm formed by the extension of one link of the second pair of parallel links (124), and The second pair of parallel arms is formed by the third arm (126) and an arm formed by the extension of one of the links of the first pair of parallel links (124).

13. The mechanism (100) according to claim 12, wherein, One link of the first pair of parallel links (104) and one link of the second pair of parallel links (124) are formed by two parallel members spaced apart in the direction of the second axis.

14. The mechanism (100) according to claim 12, wherein, The first pair of parallel links (104) are kinked.

15. The mechanism (100) according to claim 9, wherein, The mechanism (100) is balanced by one or more elastic members operably coupled to the mechanism (100).

16. The mechanism (100) according to claim 9, wherein, The first parallel four-bar linkage (110) and / or the second parallel four-bar linkage (120) are surrounded by a covering.

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