title: Improved haptic interface for colonoscopy simulation.
abstract: This paper presents an improved haptic interface of the KAIST-Ewha colonoscopy simulator II. The haptic interface enables the distal portion of the colonoscope to be freely bent while guaranteeing enough workspace and reflective forces for colonoscopy simulation. Its force-torque sensor measures profiles of the user. Manipulation of the colonoscope tip is monitored by four deflection sensors, and triggers computation to render accurate graphic images corresponding to the angle knob rotation. Tack switches are attached on the valve-actuation buttons of the colonoscope to simulate air-injection or suction, and the corresponding deformation of the colon.
authors.affiliation: Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea.
authors.forename: Hyun Soo
authors.initials: HS
authors.lastname: Woo
authors.forename: Woo Seok
authors.initials: WS
authors.lastname: Kim
authors.forename: Woojin
authors.initials: W
authors.lastname: Ahn
authors.forename: Doo Yong
authors.initials: DY
authors.lastname: Lee
authors.forename: Sun Young
authors.initials: SY
authors.lastname: Yi
mesh_terms: D020685:Colonoscopes; D003113:Colonoscopy / Q000379:methods*; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005246:Feedback; D007723:Korea; D010812:Physical Stimulation / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000193:education* / Q000295:instrumentation* / Q000379:methods; D014110:Touch; D014159:Transducers; D014584:User-Computer Interface