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Virtual endoscope system with force sensation

  • Koji Ikuta
  • Masaki Takeichi
  • Takao Namiki
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1496)

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.

Keywords

Contact Force Reactive Force Force Sensation Mobile Joint Rubber Roller 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

  1. 1.
    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)Google Scholar
  2. 2.
    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)Google Scholar
  3. 3.
    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)Google Scholar
  4. 4.
    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)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1998

Authors and Affiliations

  • Koji Ikuta
    • 1
  • Masaki Takeichi
    • 1
  • Takao Namiki
    • 1
  1. 1.Department of Micro System Engineering, School of EngineeringNagoya UniversityNagoyaJapan

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