Abdominal palpation haptic device for colonoscopy simulation using pneumatic control

Cheng, Mario, Marinovic, Welber, Watson, Marcus, Ourselin, Sebastien, Passenger, Josh, De Visser, Hans, Salvado, Olivier and Riek, Stephan (2012) Abdominal palpation haptic device for colonoscopy simulation using pneumatic control. IEEE Transactions on Haptics, 5 2: 97-108. doi:10.1109/ToH.2011.66

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Author Cheng, Mario
Marinovic, Welber
Watson, Marcus
Ourselin, Sebastien
Passenger, Josh
De Visser, Hans
Salvado, Olivier
Riek, Stephan
Title Abdominal palpation haptic device for colonoscopy simulation using pneumatic control
Journal name IEEE Transactions on Haptics   Check publisher's open access policy
ISSN 1939-1412
Publication date 2012-04
Year available 2011
Sub-type Article (original research)
DOI 10.1109/ToH.2011.66
Volume 5
Issue 2
Start page 97
End page 108
Total pages 12
Place of publication Piscataway, NJ, United States
Publisher Institute of Electrical and Electronics Engineers
Collection year 2012
Language eng
Abstract In this paper, we describe the development of a haptic device to be used in a simulator aiming to train the skills of gastroenterology assistants in abdominal palpation during colonoscopy, as well as to train team interaction skills for the colonoscopy team. To understand the haptic feedback forces to be simulated by the haptic device, we conducted an experiment with five participants of varying BMI. The applied forces and displacements were measured and hysteresis modeling was used to characterize the experimental data. These models were used to determine the haptic feedback forces required to simulate a BMI case in response to the real-time user interactions. The pneumatic haptic device consisted of a sphygmomanometer bladder as the haptic interface and a fuzzy controller to regulate the bladder pressure. The haptic device showed good steady state and dynamic response was adequate for simulating haptic interactions. Tracking accuracy averaged 94.2 percent within 300 ms of the reference input while the user was actively applying abdominal palpation and minor repositioning.
Keyword Medical simulation
Force feedback
System design and analysis
Haptic rendering
Q-Index Code C1
Q-Index Status Confirmed Code
Institutional Status UQ
Additional Notes Published online 3 Nov. 2011.

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