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US Patent 7289106 Methods and apparatus for palpation simulation

Patent 7289106 was granted and assigned to IMMERSION MEDICAL, INC. on October, 2007 by the United States Patent and Trademark Office.

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Patent abstract

An apparatus comprises a manipulandum, a housing, a sensor and an actuator. The housing has a palpation region spaced apart from the manipulandum. The sensor is coupled to the palpation region of the housing. The sensor is configured to send a signal based on a palpation of the palpation region of the housing. The actuator is coupled to the manipulandum. The actuator is configured to send haptic output to the manipulandum based on the signal.

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