Abstract
We have developed a Virtual Endoscope System (VES) with force sensation to train inexperienced young 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 have confirmed its force simulation ability by several experiments. We also developed the dynamical models of an endoscope and colon to calculate reactive force that doctors receive from a colon in real-time, and we confirmed the accuracy of these models by software simulation of endoscopic. We believe this system is adequate for training young doctors in endoscopic insertion.
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References
Koji Ikuta, Takao Namiki, Masaki Takeichi: “Study on Virtual Endoscope System with Force Sensation”, Proc. of 2nd Annual Conference of the Robotics Symposia, pp. 19–22 1997 (in Japanese)
Koji Ikuta, Takao Namiki, Masaki Takeichi: “Study on Virtual Endoscope System with Force Sensation-2nd:Verfication of force sensation and Mathematical model“, Proc. of 15th Annual Conference of the Robotics Society of Japan, pp. 19–22 1997 (in Japanese)
Shigeo Hirose, Shinichi Amano: The VUTON: High Payload High Efficiency-Holonomic Omni-Directional Vehicle, Proc. Int. Symp. on Robotics Research, pp. 253–260 1993 (in Japanese)
K. Mori, A. Urano, J. Hasegawa, J. Toriwaki, H. Annno and K. Ktatada: Virtualized Endoscope System — An Application of Virtual Reality Technology to Diagnostic Aid-,IEICE* TRANS.INF.&SYST., Vol.E79-D, No.6, pp.809–819, 1996.(*IEICE-Institute of Electronics, Information and Communication Engineering of Japan)
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© 1998 Springer-Verlag Berlin Heidelberg
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Ikuta, K., Takeichi, M., Namiki, T. (1998). Virtual endoscope system with force sensation. In: Wells, W.M., Colchester, A., Delp, S. (eds) Medical Image Computing and Computer-Assisted Intervention — MICCAI’98. MICCAI 1998. Lecture Notes in Computer Science, vol 1496. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0056213
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DOI: https://doi.org/10.1007/BFb0056213
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