title: System characterization of a novel haptic interface for natural orifice translumenal endoscopic surgery simulation.
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 simulator developed at the CeMSIM at RPI to train surgeons in NOTES. A novel 2 DOF decoupled haptic device was designed and built for this simulator. The haptic device can render 5.62 N and 190.05 N-mm of continuous force and torque respectively. In this work we have evaluated the haptic interface and developed a model to accurately describe the system behavior, to further incorporate into an impedance type controller for realistic haptic rendering in the VTEST(©).
authors.forename: Saurabh
authors.initials: S
authors.lastname: Dargar
authors.forename: Ganesh
authors.initials: G
authors.lastname: Sankaranarayanan
authors.forename: Suvranu
authors.initials: S
authors.lastname: De
mesh_terms: D003198:Computer Simulation; D017076:Computer-Aided Design; D006801:Humans; D057605:Natural Orifice Endoscopic Surgery; D012399:Rotation; D012984:Software; D014110:Touch; D014584:User-Computer Interface