Patent ID: 6857878

Claim:
A system for performing a simulated medical procedure, comprising: (a) a simulated organ, wherein said simulated organ is a gastro-intestinal tract; (b) a simulated instrument for performing the simulated medical procedure on said simulated organ, wherein said simulated instrument is an endoscope, said endoscope featuring a sensor for determining a location of said sensor in said gastro-intestinal tract; (c) a locator for determining a location of said simulated instrument within said simulated organ; (d) a visual display for displaying images according to said location of said simulated instrument within said simulated organ for providing visual feedback, such that said images simulate actual visual data received during an actual medical procedure as performed on an actual subject, said visual display including: (i) a three-dimensional mathematical model for modeling said simulated organ according to a corresponding actual organ, said model being divided into a plurality of segments, said plurality of segments being arranged in a linear sequence; (ii) a loader for selecting at least one of said plurality of segments from said linear sequence for display, said at least one of said plurality of segments being selected according to said location of said simulated instrument within said simulated organ; (iii) a controller for selecting a simulated image from said segment according to said location of said simulated instrument; and (iv) a displayer for displaying said simulated image; (e) a computer for determining said visual feedback according to said location of said sensor; and (f) a tactile feedback mechanism for providing simulated tactile feedback according to said location of said tip of said endoscope, wherein said tactile feedback mechanism is located in said endoscope, and said endoscope further comprises: (i) a guiding sleeve connected to said tip of said endoscope; (ii) at least one ball bearing attached to said guiding sleeve for rolling along an inner surface of said gastro-intestinal tract; (iii) at least one motor attached to said guiding sleeve; (iv) a piston operated by said linear motor, said piston contacting said inner surface of said gastro-intestinal tract; and (v) a controller for controlling said linear motor, such that a position of said piston is determined by said controller, and such that said position of said piston provides said tactile feedback.