de.mpg.escidoc.pubman.appbase.FacesBean
English
 
Help Guide Disclaimer Contact us Login
  Advanced SearchBrowse

Item

ITEM ACTIONSEXPORT

Released

Journal Article

Design of a Haptic Interface for a Gastrointestinal Endoscopy Simulation

MPS-Authors
http://pubman.mpdl.mpg.de/cone/persons/resource/persons84227

Woo HS, Son,  HI
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

Locator
There are no locators available
Fulltext (public)
There are no public fulltexts available
Supplementary Material (public)
There is no public supplementary material available
Citation

Yu, I., Woo HS, Son, H., Ahn W, Jung HR, Lee, D., & Yi, S. (2012). Design of a Haptic Interface for a Gastrointestinal Endoscopy Simulation. Advanced Robotics, 26(18), 2115-2143. doi:10.1080/01691864.2012.703300.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-B61A-F
Abstract
This paper presents a new design and analysis of a haptic interface for a gastrointestinal endoscopy simulation. The gastrointestinal endoscopy is a procedure in which the digestive tract and organs of a patient are diagnosed and treated using a long and flexible endoscope. The developed haptic interface incorporates two degrees of freedom (DOF), each of which is necessary to describe the movements of an endoscope during the actual endoscopy procedures. The haptic interface has a translational motion mechanism to implement the insertion movement of the endoscope, and a rotational motion mechanism to implement the rotational movement of the endoscope. The endoscope included in the haptic interface is supported by a folding guide to prevent the endoscope from buckling. Force feedback in each direction is provided by wire-driven mechanisms. The developed haptic interface has a workspace, sensitivity, and maximum attainable force and torque enough to simulate the endoscopy procedures such as colonoscopy, upper GI (gastrointestinal) endoscopy, and endoscopic retrograde cholangiopancreatography (ERCP). The developed haptic interface is applied to implementation of a colonoscopy simulation. Performance including force bandwidth is evaluated through experiments and simulation.