NDLI: Virtual endoscope system with force sensation

Content Provider	IEEE Xplore Digital Library
Author	Ikuta, K. Takeichi, M. Namiki, T.
Copyright Year	1999
Description	Author affiliation: Dept. of Micro Syst. Eng., Nagoya Univ., Japan (Ikuta, K.)
Abstract	We develop a virtual endoscope system (VES) with force sensation to train inexperienced doctors and simulate operations that require special technical skills. In this paper we describe the force simulation mechanism employed by our VES and dynamical models of an endoscope and colon. The force simulation mechanism was developed with the use of four rubber rollers and differential gears. The simple structure of this mechanism enables easy control and stable linear and rotational drive of the endoscope, and we confirm its force simulation ability by several experiments. We also develop the dynamical models of an endoscope and colon to calculate reactive force that doctors receive from a colon in real-time, and we confirm the accuracy of these models by software simulation. We believe this system is adequate for training young doctors in endoscopic insertion.
Starting Page	1715
Ending Page	1721
File Size	591282
Page Count	7
File Format	PDF
ISBN	0780351800
ISSN	10504729
DOI	10.1109/ROBOT.1999.770356
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-05-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Endoscopes Colon Medical simulation Force control Computational modeling Computerized monitoring Biomedical imaging Medical diagnostic imaging Systems engineering and theory Rubber
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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