Instrumentation of a clinical colonoscope for surgical simulation

Abstract

Abstract-This paper describes the instrumentation of a clinical colonoscope needed for a novel colonoscopy simulation framework. The simulator consists of a compact and portable haptic interface and a virtual reality environment to provide real-time visualization. The proposed instrumentation enables tracking different functions of the colonoscope while keeping the ergonomic unchanged.

Assessing the realism of colonoscopy simulation: the development of an instrument and systematic comparison of 4 simulators

“…In a VR simulator, haptic response depends heavily on both software engineering and the quality and design of the haptic device and colonoscope. 24 Further refinement of these elements will be crucial if future VR simulators are to provide authentic force feedback to trainees. [22][23][24] For simulation of insufflation and deflation, the GI Mentor II was again rated significantly less realistic than the other 3 systems, receiving a lower score than on any other subscale.…”

“…24 Further refinement of these elements will be crucial if future VR simulators are to provide authentic force feedback to trainees. [22][23][24] For simulation of insufflation and deflation, the GI Mentor II was again rated significantly less realistic than the other 3 systems, receiving a lower score than on any other subscale. The GI Mentor II received the lowest average rating of the 4 simulators on every individual item in this subscale (Supplementary Table 1).…”

“…Another limitation is we did not include simulators that are not commercially available. [12][13][14][22][23][24]37 Likewise, although we deliberately designed the CSRQ to be equally appropriate for evaluating ex-vivo models, we did not include them in this study.…”

“…Both VR simulators have previously been criticized for the quality of their haptic feedback. 11,[22][23][24][25] At the individual-item level, the GI Mentor II consistently received the lowest average rating of all 4 simulators, and it performed particularly poorly in relation to the amount of forward insertion force required and the sensation of resistance to movement of the colonoscope shaft. In a VR simulator, haptic response depends heavily on both software engineering and the quality and design of the haptic device and colonoscope.…”

Experimental evaluation of a haptic interface for endoscopic simulation

“…To address the need for higher fidelity and complexity in a colonoscopy simulator, we have designed a new haptic interface [20] and instrumented a clinical colonoscope [17] in order to integrate it with the software simulation framework for colonoscopy (MILX TM GastroSim) developed at CSIRO [12,5]. Several prototypes have been built, presented at medical conferences and commercialization is imminent.…”