Portable virtual endoscope system with force and visual display

Ikuta, Koji; Iritani, K.; Fukuyama, J.; Takeichi, M.

doi:10.1109/iros.2000.894689

Cited by 14 publications

(12 citation statements)

References 2 publications

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“…Recently a few studies [4,7,9,5] have focused on simulation modeling and visualization of colonoscopy with haptic feedback. Some of these studies [6,2] have already lead to products.…”

Section: Introductionmentioning

confidence: 99%

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A Haptic Interface with Motor/Brake System for Colonoscopy Simulation

Samur

Flection

Spaelter

et al. 2008

2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems

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Training for colonoscopy, which is the examination and treatment of the colon, is often performed on real patients once the physician has passed the novice level. This increases the risk to the patient and lengthens the procedure time. Since a decade ago, there has been research on virtual reality surgery simulators with haptic feedback. The main goal is to provide an alternative to traditional training methods on animals, cadavers or real patients. Haptic feedback is a key feature for every surgery simulator for the training of hand-eye coordination. In this paper, a compact and portable haptic interface is presented for the colonoscopy. The haptic interface provides position data acquisition and force feedback in linear and rotational directions with combined electrical motors and passive brakes to cover a large range of forces. The motorized drives are used for active force feedback and friction compensation and the brakes are used for high force rendering without slipping. This novel design allows decoupled motion in both directions.

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“…Recently a few studies [4,7,9,5] have focused on simulation modeling and visualization of colonoscopy with haptic feedback. Some of these studies [6,2] have already lead to products.…”

Section: Introductionmentioning

confidence: 99%

“…Ikuta et. al [4] designed a portable virtual endoscope system which is actuated by several friction rollers and a rubber ball. Although this mechanism provided compact solution, forces in both directions were insufficient for a realistic simulation.…”

Section: Introductionmentioning

confidence: 99%

A Haptic Interface with Motor/Brake System for Colonoscopy Simulation

Samur

Flection

Spaelter

et al. 2008

2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems

View full text Add to dashboard Cite

show abstract

“…Furthermore, it allows session recording and has therefore distinct advantages over traditional training methods on animals, cadavers or real patients. However, existing simulators still need to be improved regarding the realism of the simulation by offering better visualization rendering, adequate force feedback and realistic endoscope simulations Recently a few studies [13,14,15,16,25] have focused on simulation, modeling and visualization of colonoscopy with haptic feedback. Some of these studies [2,7] have already lead to products.…”

Section: Introductionmentioning

confidence: 99%

Experimental evaluation of a haptic interface for endoscopic simulation

Samur

Flaction

Bleuler

2011

2011 IEEE World Haptics Conference

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The main goal of virtual reality based surgery simulators with haptic feedback is to provide an alternative to traditional training methods on animals, cadavers or real patients. Haptic feedback is a key feature for every surgery simulator for the training of hand-eye coordination. To address the need for higher fidelity and complexity in an endoscopic simulator, we have designed a new haptic interface, instrumented a clinical endoscope and integrated it with a software simulation for colonoscopy. The proposed haptic interface provides high translational force and rotational torque with combined electrical motors and passive brakes. This paper presents the evaluation of the haptic interface. Experimental analyzes are performed for characterization and performance evaluation. A model-based feedforward control is implemented and the results show that the control successfully compensates for the device dynamics and nonlinearities such as Coulomb and viscous friction.

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“…Recent studies [2][3][4][5][6] have focused on simulation modeling and visualization of colonoscopy with haptic feedback. The outcome of some of these studies is a set of commercial devices [7][8][9].…”

Section: Introductionmentioning

confidence: 99%

“…The outcome of some of these studies is a set of commercial devices [7][8][9]. However, the main drawbacks of existing simulators for a realistic simulation are: 1. the absence or a weak force feedback [2,4,8], 2. the impossibility to remove the colonoscope from the simulator [4,6], and 3. the coupling of the translational and rotational force feedbacks [7,9].…”

Section: Introductionmentioning

confidence: 99%