Patent ID: 6926531

Claim:
An apparatus for use for training an operator in the use of an endoscope system comprising a dummy endoscope having an insertion tube; a fixture defining a duct receiving, in use the insertion tube; sensor means responsive to manipulation of the dummy endoscope to provide signals representative of longitudinal and rotational movement of the insertion tube relative to the fixture; and simulation means responsive to the signals to generate an operator viewable image simulating the image which would be viewable using the endoscope when manipulated in like manner during an endoscopic procedure, wherein the simulation means further comprises tactile means independent of the sensor means and operable between the fixture and the insertion tube so as to provide a corresponding tactile feedback to the operator; wherein the tactile means comprises means to impart linear and rotational force feedback independently of one another, including a set of rollers spaced circumferentially around the duct such that the periphery of each roller engages, in use, the insertion tube and each roller is rotatable upon longitudinal movement of the tube; the rollers being arranged to grip the tube and being mounted on a disc which is rotatable upon rotational movement of the tube, a first force feedback mechanism for generating proportional resistance to rotation of at least one roller so as to provide force feedback against the longitudinal motion of the tube, and a second force feedback mechanism for generating proportional resistance to rotation of the disc so as to provide force feedback against the rotational movement of the tube, wherein the rollers are configured to grip the tube so as to substantially eliminate slippage between the tube and the disc as the tube is rotated.