Abdominal palpation haptic device for colonoscopy simulation using pneumatic control haptics

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 haptics. IEEE Transactions on Haptics, 5 2: 97-108. doi:10.1109/TOH.2011.66


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 haptics
Journal name IEEE Transactions on Haptics   Check publisher's open access policy
ISSN 1939-1412
2329-4051
Publication date 2012-06-05
Year available 2011
Sub-type Article (original research)
DOI 10.1109/TOH.2011.66
Open Access Status Not Open Access
Volume 5
Issue 2
Start page 97
End page 108
Total pages 12
Place of publication New York, NY, United States
Publisher Institute of Electrical and Electronics Engineers
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 Provisional Code
Institutional Status UQ

Document type: Journal Article
Sub-type: Article (original research)
Collections: School of Human Movement and Nutrition Sciences Publications
School of Medicine Publications
School of Psychology Publications
 
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