The measurement of forces exerted during colonoscopy

Appleyard, Mark; Mosse, Charles A.; Mills, Thomas M.; Bell, G. D.; Castillo, Fortunato D.; Swain, C. Paul

doi:10.1067/mge.2000.107218

Cited by 76 publications

(47 citation statements)

References 11 publications

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“…The force bandwidth of the device is around 13 Hz which is sufficient to render forces during a typical colonoscopy procedure. These results satisfy the design requirements summarized in [20] except the maximum torque requirement which is 1 Nm for a procedure performed with an adult size colonoscope [1]. Limitation of 0.3 Nm maximum torque in the rotational DOF is due to the slip between the endoscope and the friction rollers.…”

Section: Resultssupporting

confidence: 61%

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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Section: Resultssupporting

confidence: 61%

Experimental evaluation of a haptic interface for endoscopic simulation

Samur

Flaction

Bleuler

2011

2011 IEEE World Haptics Conference

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“…In addition, tool re-insertion is also required. Estimated forces and torques for a procedure performed with an adult size colonoscope are in the range of about ± 44 N and ± 1 Nm respectively [1].…”

Section: Design and Prototypementioning

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

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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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“…Versuchsanordnung, durch die Darmdistension (bedingt durch Luftin-sufflation und Spreizung des Darms) sowie durch den Zug am Mesenterium bei der Endoskoppassage erklärt [1,14,20].…”

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