Abstract

A device for tracking the translational and rotational displacement of an object having two degrees of freedom using a single point of contact with the object. The device is particularly useful in a catheter simulation device for surgery and interventional radiology applications. A spherical contact member is mounted for free rotation about all axes in force-transmitting contact with the surface of the object and a pair of shafts are mounted in tangential engagement with the spherical member to reflect the displacement imparted to the object relative to a reference position. This arrangement provides simultaneous tracking of the combined translational and rotational displacement of the object. Measuring the displacement of the object and a haptic applicator are included such that a load may be applied to the object to precisely control the degree of force required to cause displacement of the object. The actual forces applied to displace the object are also measured such that the device is capable of providing a realistic force reflection to simulate the feel of a surgical procedure, for example. A computerized control system and conventional recording device are employed to provide a programmed procedure which provides realistic "feel" to a user of an actual surgical procedure. The device is readily adaptable for interfacing with a virtual reality type program to simultaneously provide a visual simulation of the surgical procedure.