title: A Decoupled 2 DOF Force Feedback Mechanism for the Virtual Translumenal Endoscopic Surgical Trainer (VTEST.
abstract: Natural orifice translumenal endoscopic surgery (NOTES) is a minimally invasive procedure which utilizes the body's natural orifices to gain access to the peritoneal cavity. The VTEST is a virtual reality NOTES cholecystectomy simulator being built at the CeMSIM at RPI. We have developed a 2 DOF decoupled haptic device, which can provide translational and rotational haptic feedback to the user handling the flexible endoscope. Preliminary results indicate the device is capable of providing realistic feedback to the user while operating the device.
authors.affiliation: Center for Modeling, Simulation and Imaging in Medicine (CeMSIM), Rensselaer Polytechnic Institute, Troy, New York.
authors.forename: Saurabh
authors.initials: S
authors.lastname: Dargar
authors.affiliation: Center for Modeling, Simulation and Imaging in Medicine (CeMSIM), Rensselaer Polytechnic Institute, Troy, New York.
authors.forename: Benjamin
authors.initials: B
authors.lastname: Lam
authors.affiliation: Center for Modeling, Simulation and Imaging in Medicine (CeMSIM), Rensselaer Polytechnic Institute, Troy, New York.
authors.forename: Crystal
authors.initials: C
authors.lastname: Horodyski
authors.affiliation: Center for Modeling, Simulation and Imaging in Medicine (CeMSIM), Rensselaer Polytechnic Institute, Troy, New York.
authors.forename: Ganesh
authors.initials: G
authors.lastname: Sankaranarayanan
authors.affiliation: Center for Modeling, Simulation and Imaging in Medicine (CeMSIM), Rensselaer Polytechnic Institute, Troy, New York.
authors.forename: Suvranu
authors.initials: S
authors.lastname: De
mesh_terms: D002763:Cholecystectomy / Q000193:education* / Q000295:instrumentation; D003198:Computer Simulation; D019723:Endoscopes; D004867:Equipment Design; D005246:Feedback; D057605:Natural Orifice Endoscopic Surgery / Q000295:instrumentation*; D014110:Touch; D014584:User-Computer Interface