000172953 001__ 172953
000172953 005__ 20190401201630.0
000172953 0247_ $$2doi$$a10.1109/TOH.2011.70
000172953 02470 $$2ISI$$a000310384300002
000172953 037__ $$aARTICLE
000172953 245__ $$aDesign and Evaluation of a Novel Haptic Interface for Endoscopic Simulation
000172953 269__ $$a2011
000172953 260__ $$bIeee Computer Soc$$c2011$$aLos Alamitos
000172953 300__ $$a11
000172953 336__ $$aJournal Articles
000172953 520__ $$aInspection of the colon with an endoscope for early signs of cancer (colonoscopy) has become an extremely widespread procedure, since early treatment radically improves the outlook of patients. The procedure requires a close coordination between the sense of touch and vision to navigate the endoscope along the colon. This raises the need to develop efficient training methods for physicians. Training simulators based on virtual reality, where realistic graphics are combined with a mechatronic system providing haptic feedback, are alternative to traditional training methods. To provide physicians with realistic haptic sensations of an endoscopic procedure, we have designed a haptic interface, instrumented a clinical endoscope and combined them with a simulation software for colonoscopy. In this contribution, we present the mechatronic components of the simulator. The haptic interface is able to generate high forces using the combination of electrical motors and brakes in a compact design. Experiments were performed to determine the characteristics of the device. A model-based control has been implemented and the results show that the control successfully compensates for the device nonlinearities, such as friction. The proposed haptic interface, together with the virtual reality, form a highly realistic training simulator for endoscopic surgeons, applicable not only to colonoscopy, but also to similar interventions.
000172953 6531_ $$aForce feedback
000172953 6531_ $$asurgical simulation
000172953 6531_ $$acolonoscopy training
000172953 6531_ $$adesign
000172953 6531_ $$ahaptic modeling
000172953 6531_ $$aperformance evaluation
000172953 700__ $$0244054$$g170323$$aSamur, Evren
000172953 700__ $$0242155$$g154781$$aFlaction, Lionel
000172953 700__ $$aBleuler, Hannes$$g104561$$0240027
000172953 773__ $$tIEEE Transactions on Haptics$$j5$$k2$$q301-311
000172953 909C0 $$0252016$$pLSRO
000172953 909CO $$ooai:infoscience.tind.io:172953$$pSTI$$particle
000172953 917Z8 $$x154781
000172953 917Z8 $$x154781
000172953 937__ $$aEPFL-ARTICLE-172953
000172953 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000172953 980__ $$aARTICLE