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Prosthetic simulator with soft tissue modeling

  • US 7,823,460 B2
  • Filed: 08/14/2006
  • Issued: 11/02/2010
  • Est. Priority Date: 08/12/2005
  • Status: Active Grant
First Claim
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1. A simulator for an implantable prosthetic element, comprisinga prosthetic drive mechanism that drives the implantable prosthetic element;

  • a sensor that measures a force or torque applied to the implantable prosthetic element from the drive mechanism; and

    a control system responsive to the sensor and to a simulation input, the control system including a soft tissue model that accounts for soft tissue constraint and adjusts the drive provided by the drive mechanism in a repetitive programmed manner, the control system determining an error from a previous iteration of motion of the drive mechanism and including an accumulator that accumulates the error, the control system using the accumulated error to determine a drive signal applied in a subsequent iteration of motion of the drive mechanism.

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