[D76] Haptic playback for endoscopy

We present a new feature for endoscopy wherein an endoscopist can palpate to assess abnormalities during the procedure and can experience the visual and haptic playback of the procedure later on when the patient returns. In our prototype, tactile sensors mounted on the endoscope help gather the force information, which is not only displayed to the practitioner but is also stored for later use. The recorded event that includes the video and the force data can be accessed using an endoscopic haptic simulator to re-create the experience for the clinician to help in diagnosis and treatment. We demonstrate our concept with a 2D setup shown in the attached figure, which comprises a scaled stomach model, a Falcon robot augmented with a tactile sensor, and a second Falcon to play the event back. Finite element analysis is integrated within the haptic loop. The recorded path is displayed to guide the user.