Patent ID: 8485829

Claim:
A system for simulating a manual interventional operation by a user on a human or animal body using a simulated body and at least two interventional instruments, the system comprising: a longitudinal track, a plurality of carriages moveable along said track and configured to rotate and move longitudinally said interventional instruments, each carriage having a clamping device configured to secure one of said interventional instruments to said corresponding carriage, wherein said clamping device comprises: a first electro-magnetic device with a hollow part for receiving the one of said interventional instruments to be secured therein, and a second electro-magnetic device with a protruding part for pressing at least a part of the one of said interventional instruments within said hollow part while said first and second electromagnetic devices are actuated, coils configured to receive electric current to actuate said first and second electro-magnetic devices, feedback device configured to receive and transmit to a user hand a feedback force from said interventional instruments with respect to simulation characteristic, optical captors configured to recognize the presence of said interventional instruments in each carriage, and a computing device configured to: model an internal system of said simulated body with a mesh geometry comprising a plurality of polygon objects, wherein the plurality of polygon objects model a physical property of elasticity, render interactively in real time the internal system on at least one monitor to provide a realistic visualization of the simulated body and an interaction of the at least two interventional instruments with each other and the simulated body, simulate hemodynamic flow within a vascular system of the internal system, wherein the hemodynamic flow is calculated using a parameters model comprising resistance, inductance, and capacitance (RLC) net parameters calculated through formulas: R= 8 μl/πr 4 , L=ρl/πr 4 , and C= 2 πr 3 l/Eh, wherein l is a length of a vessel of the vascular system, r is a section of the vessel of the vascular system, μ is blood viscosity, ρ is blood density, E is a modulus of vessel elasticity, and h is a thickness of a wall of the section of the vessel, and simulate deformation within the vascular system caused by at least one of variation in blood pressure, collision of at least one of the at least two interventional instruments with a wall of the internal system, a vascular spasm, or expansion of the vascular system produced during the interventional operation, wherein the computing device is configured to simulate the vascular deformation using the mesh geometry and the modeled physical property of elasticity.