A Pneumatic Haptic Module for Simulation of Catheters Used in Gastrointestinal Endoscopy

被引：0

作者：

Hwang, Jihye ^{[1
]}

Gu, Yunjin ^{[2
]}

Lee, Doo Yong ^{[1
]}

机构：

[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Daejeon 34141, South Korea

[2] KTH Royal Inst Technol, Div Mechatron, S-11428 Stockholm, Sweden

来源：

2016 16TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2016年

基金：

新加坡国家研究基金会;

关键词：

Haptic interface; Catheter simulation; Endoscopy simulation; Medical simulation;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a haptic module for simulation of catheters used in GI (gastrointestinal) endoscopy. The designed haptic interface provides translational force feedback in one degree-of-freedom using the pneumatic module made of silicon rubber. The pneumatic module has a cylindrical shape with a hollow space inside. The space inside of the module can be filled with air activated by a syringe pump. The module grasps the catheter traveling through the module. The syringe pump is controlled to insufflate or remove air into the space in real-time. Experimental results show that the feedback force and the amount of injected air to the module have a linear relationship. The proposed interface is able to generate necessary force feedback during catheter simulation.

引用

页码：287 / 291

页数：5