title: Haptic device for colonoscopy training simulator.
abstract: A new 2-DOF haptic device for colonoscopy training simulator employing flexible endoscopes, is developed. The user operates the device in translational and roll directions. The developed folding guides of the device keep the endoscope tube straight. This helps transmit large decoupled forces of the colonoscopy simulation to the user. The device also includes a mechanism to detect jiggling motion of the scopes to allow users to practice this important skill of the colonoscopy. The device includes PD controller to compensate the inertia and friction effects. This provides the users with better transparent sensation of the simulation.
authors.affiliation: Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Seoul, Korea. {kwonjy,lee.dooyong}@kaist.ac.kr
authors.forename: Jun Yong
authors.initials: JY
authors.lastname: Kwon
authors.forename: Hyun Soo
authors.initials: HS
authors.lastname: Woo
authors.forename: Doo Yong
authors.initials: DY
authors.lastname: Lee
mesh_terms: D002983:Clinical Competence / Q000592:standards; D003113:Colonoscopy; D003198:Computer Simulation; D019723:Endoscopes; D006801:Humans; D014110:Touch; D014584:User-Computer Interface