Patent ID: 7855712

Claim:
A replaceable instrument mechanism for a haptic device, comprising: a coupler having: a coupler body with a first end and a second end, the first end adapted to be connected to an output end of the haptic device so as to be displaceable along degrees-of-freedom of the haptic device; and a force transmission mechanism connected to the coupler body, the force transmission mechanism having a movable connector displaceable along at least one rotational degree-of-freedom with respect to the coupler body, the force transmission mechanism adapted to be connected to a force feedback system of the haptic device so as to receive force feedback from the haptic device and impart the force feedback to the movable connector; at least one instrument having: a fixed handle portion having a connector end releasably secured to the second end of the coupler body so as to be fixed to and displaceable with the coupler; a movable handle portion manually actuatable in at least one rotational degree-of-freedom with respect to the fixed handle portion to simulate a scissor operation performed with the instrument; and a pivot member connected to and different from the movable handle portion about which the movable handle portion rotates during the scissor operation, and with the movable handle portion being connected at the pivot member to the movable connector of the force transmission mechanism and being different from the movable connector so as to have the movable handle portion rotate concurrently with the movable connector about a singular common axis of scissor movement to transmit force feedback from the movable connector to the movable handle portion in response to actuation of the movable handle portion as detected by the haptic device.