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ROTATIONAL MOTION SIMULATING DEVICE AND LINEAR MOTION SIMULATING DEVICE FOR HAPTIC APPARATUS OF SIMULATOR FOR TRAINING ENDOSCOPE OPERATION, HAPTIC APPARATUS OF SIMULATOR FOR TRAINING ENDOSCOPE OPERATION HAVING THE SAME AND SIMULATOR FOR TRAINING ENDOSCOPE OPERATION HAVING THE SAME
ROTATIONAL MOTION SIMULATING DEVICE AND LINEAR MOTION SIMULATING DEVICE FOR HAPTIC APPARATUS OF SIMULATOR FOR TRAINING ENDOSCOPE OPERATION, HAPTIC APPARATUS OF SIMULATOR FOR TRAINING ENDOSCOPE OPERATION HAVING THE SAME AND SIMULATOR FOR TRAINING ENDOSCOPE OPERATION HAVING THE SAME
The present invention relates to a simulator, especially, to a haptic interface apparatus of a simulator for training an endoscope operation, and rotational motion and linear motion simulating apparatuses therefor. According to the present invention, the haptic interface apparatus of a simulator for training an endoscope operation comprises: the rotational motion simulating apparatus for simulating a rotational motion of an endoscope tube; and the linear motion simulating apparatus for simulating a linear motion of the endoscope tube. The rotational motion simulating apparatus has a rotary module having the endoscope tube which passes along a first rotary shaft line, and rotating around the first rotary shaft line with the endoscope tube. The linear motion simulating apparatus has a gripper rotating portion grabbing the endoscope tube, and moving the same in a circular arc shape along a longitudinal direction. A section passing the rotary module and the gripper rotating portion among the endoscope tubes is located on a same plane.
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