Improved haptic interface for colonoscopy simulation.
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.
Woo
Hyun Soo
HS
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea.
Kim
Woo Seok
WS
Ahn
Woojin
W
Lee
Doo Yong
DY
Yi
Sun Young
SY
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