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Research Papers

Design of a New Haptic Interface for Endoscopy Simulation

[+] Author and Article Information
Yunjin Gu

Department of Mechanical Engineering,
Korea Advanced Institute of
Science and Technology,
291 Daehak-ro, Yuseong-gu,
Daejeon 305-338, Korea
e-mail: uhaha@kaist.ac.kr

Cheongjun Kim

Department of Mechanical Engineering,
Korea Advanced Institute of
Science and Technology,
291 Daehak-ro, Yuseong-gu,
Daejeon 305-338, Korea
e-mail: juny8916@kaist.ac.kr

Doo Yong Lee

Department of Mechanical Engineering,
Korea Advanced Institute of
Science and Technology,
291 Daehak-ro, Yuseong-gu,
Daejeon 305-338, Korea
e-mail: leedy@kaist.ac.kr

1Corresponding author.

Manuscript received November 5, 2014; final manuscript received May 28, 2015; published online August 6, 2015. Assoc. Editor: Venketesh Dubey.

J. Med. Devices 9(4), 041004 (Aug 06, 2015) (8 pages) Paper No: MED-14-1261; doi: 10.1115/1.4030874 History: Received November 05, 2014

This paper reports a novel haptic interface to provide haptic feedback during endoscopy simulation. The proposed haptic interface combines two independent mechanisms to provide two decoupled degrees-of-freedom in the translational and the rotational directions. Effects of the apparent inertia–mass and apparent friction to the user's hand are measured in the form of resistive force and torque. The forces and torques that can be manifested by the developed haptic interface are compared with the exerted force data during actual endoscopy.

Copyright © 2015 by ASME
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References

Figures

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Fig. 1

Regular endoscopy (colonoscopy)

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Fig. 2

System of endoscopy training simulation

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Fig. 3

Design of proposed haptic interface

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Fig. 4

Design of the translational mechanism

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Fig. 5

The design of the endoscope guide (top). The endoscope hits the endoscope guide at the beginning of insertion and pushes the endoscope guide (bottom left). The mechanism rotates as the endoscope pushes. The next gripper grips the endoscope naturally (bottom right).

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Fig. 6

Structure of gripper

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Fig. 7

Gripping motion of gripper

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Fig. 8

Dimensions and moving displacements of gripper

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Fig. 9

Gripper rotating on track structure

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Fig. 10

Actuation and measurement system of the translational mechanism

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Fig. 11

Schematic diagram of the translational mechanism

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Fig. 12

Design of the rotational mechanism. Side view (top), trimetric view (bottom left), and front view (bottom right).

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Fig. 13

Box module of the rotational mechanism

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Fig. 14

Experimental setup to measure slip limit, resistive force, and resistive torque

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Fig. 15

Slip limit of the translational mechanism

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Fig. 16

Typical graph of the measured resistive force of the translational mechanism (10 mm/s)

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Fig. 17

Resistive torque of the rotational mechanism

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Fig. 18

Experimental setup to measure the translational feedback force

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Fig. 19

Measured maximum feedback force of the translational mechanism

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Fig. 20

Experimental setup to measure the rotational feedback torque

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Fig. 21

Measured maximum feedback torque of the rotational mechanism

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