Haptic interface of the KAIST-Ewha colonoscopy simulator II.
This paper presents an improved haptic interface for the Korea Advanced Institute of Science and Technology Ewha Colonoscopy Simulator II. The haptic interface enables the distal portion of the colonoscope to be freely bent while guaranteeing sufficient workspace and reflective forces for colonoscopy simulation. Its force-torque sensor measures the profiles of the user. Manipulation of the colonoscope tip is monitored by four deflection sensors and triggers computations to render accurate graphic images corresponding to the rotation of the angle knob. Tack sensors are attached to the valve-actuation buttons of the colonoscope to simulate air injection or suction as well as the corresponding deformation of the colon. A survey study for face validation was conducted, and the result shows that the developed haptic interface provides realistic haptic feedback for colonoscopy simulations.
Woo
Hyun Soo
HS
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon 305-701, Korea. hyunsoo.woo@kaist.ac.kr
Kim
Woo Seok
WS
Ahn
Woojin
W
Lee
Doo Yong
DY
Yi
Sun Young
SY
D000465:Algorithms; D003113:Colonoscopy; D003198:Computer Simulation; D006801:Humans; D008953:Models, Anatomic; D012986:Software Validation; D011795:Surveys and Questionnaires; D014584:User-Computer Interface