Patent ID: 7833018

Claim:
A medical simulation apparatus comprising: a capture mechanism having a coupling mechanism and being configured to engage a peripheral device manipulatable by a user, the peripheral device comprising a medical instrument or a simulated medical instrument; a sensing assembly configured to detect movement of the peripheral device when engaged by the capture mechanism; a dimension-adjusting mechanism configured to adjust the coupling mechanism along a dimension substantially transverse to a direction of movement of the peripheral device when the peripheral device is engaged by the capture mechanism, the dimension-adjusting mechanism configured to cause the adjustment of the coupling mechanism in response to the peripheral device pushing against the dimension-adjusting mechanism and applying a force to the dimension-adjusting mechanism in a direction substantially parallel to the direction of movement of the peripheral device when the peripheral device is engaged by the capture mechanism; and an actuator configured to apply a force to the peripheral device when the peripheral device is engaged by the capture mechanism, wherein the force applied by the actuator is felt by the user manipulating the peripheral device and causes either impeded or enhanced motion of the peripheral device based on the force, the actuator applying the force based on control signals associated with the detected movement of the peripheral device, the dimension-adjusting mechanism being configured to automatically adjust the dimension of the coupling mechanism, the dimension-adjusting mechanism further including: an outer tubular-member; and an inner tubular-member, the inner tubular-member being at least partially disposed within the outer tubular-member and being configured to slide relative to the outer tubular-member in response to a manipulation of the peripheral device, the inner tubular-member being configured to engage the peripheral device at a proximal end of the inner tubular member, the inner tubular-member being coupled to the sensing assembly at a distal end of the inner tubular-member.