VR training system for endoscopic inspection of intestine has been investigated developed by the authors.Mobile total system to carry on hospital is developed. This "Potable VES" consists of a miniaturized haptic mechanism to provide force sensation to the doctor, micro computer and LCD display. All of these components are built in tower-type computer case with handle. New mathematical model are formulated and implemented to simulate large deformable intestine and endoscope. Several doctors demonstrate effectivcncss of this system for pre-clinical training of basic skill for non-invasive inspection.
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