Apparatus for simulating insertion of an elongated instrument into a structure providing axial rotating connection of the elongated instrument to a carriage

An apparatus for simulating insertion of an elongated instrument into a structure comprising:

• a casing having an aperture for receiving a distal end of the elongated instrument therethrough;
• a longitudinal guide fixedly mounted in the casing;
• a carriage comprising a mounting plate for mounting the distal end of the elongated instrument, the carriage being slidably mounted onto the longitudinal guide for translation therealong according to a translation of the elongated instrument through the aperture of the casing, the mounting plate comprising a receiving portion rotatably mounted thereto for receiving a corresponding attaching portion mounted at the distal end of the elongated instrument to provide an axial rotation connection of the elongated instrument to the carriage;
• a carriage position sensing element for sensing a longitudinal position of the carriage along the longitudinal guide;
• and
• a feedback force actuator mounted on the carriage and operatively connected to the casing for applying an adjustable resistive force to a translation of the carriage on the longitudinal guide according to the sensed position of the carriage and resistance characteristics of the structure.