000167666 001__ 167666
000167666 005__ 20190812205532.0
000167666 020__ $$a978-1-4577-0299-0
000167666 0247_ $$2doi$$a10.1109/WHC.2011.5945544
000167666 037__ $$aCONF
000167666 245__ $$aExperimental Evaluation of a Haptic Interface for Endoscopic Simulation
000167666 269__ $$a2011
000167666 260__ $$c2011
000167666 336__ $$aConference Papers
000167666 520__ $$aThe main goal of virtual reality based surgery simulators with haptic feedback is to provide an alternative to traditional training methods on animals, cadavers or real patients. Haptic feedback is a key feature for every surgery simulator for the training of hand-eye coordination. To address the need for higher fidelity and complexity in an endoscopic simulator, we have designed a new haptic interface, instrumented a clinical endoscope and integrated it with a software simulation for colonoscopy. The proposed haptic interface provides high translational force and rotational torque with combined electrical motors and passive brakes. This paper presents the evaluation of the haptic interface. Experimental analyzes are performed for characterization and performance evaluation. A model-based feed-forward control is implemented and the results show that the control successfully compensates for the device dynamics and nonlinearities such as Coulomb and viscous friction.
000167666 6531_ $$aHaptics
000167666 6531_ $$aEndoscopy
000167666 6531_ $$aPerformance Evaluation
000167666 6531_ $$aHaptic interfaces
000167666 700__ $$0244054$$g170323$$aSamur, Evren
000167666 700__ $$0242155$$g154781$$aFlaction, Lionel
000167666 700__ $$aBleuler, Hannes$$g104561$$0240027
000167666 7112_ $$dJune 21-24, 2011$$cIstanbul, Turkey$$a2011 IEEE World Haptics Conference (WHC)
000167666 773__ $$tProc. of the 2011 IEEE World Haptics Conference$$q545-549
000167666 8564_ $$zn/a$$yPublisher's version$$uhttps://infoscience.epfl.ch/record/167666/files/Samur_ExpEval_EndoscopicSimulation.pdf$$s701269
000167666 909C0 $$pLSRO$$0252016
000167666 909CO $$pSTI$$ooai:infoscience.tind.io:167666$$qGLOBAL_SET$$pconf
000167666 917Z8 $$x170323
000167666 937__ $$aEPFL-CONF-167666
000167666 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000167666 980__ $$aCONF