System characterization of a novel haptic interface for natural orifice translumenal endoscopic surgery simulation

Author

Dargar, Saurabh ; Sankaranarayanan, Ganesh ; De, Suvranu

Author_Institution

Biomed. Eng. Dept., Rensselaer Polytech. Inst. in Troy, Troy, NY, USA

fYear

2014

fDate

26-30 Aug. 2014

Firstpage

375

Lastpage

379

Abstract

Natural orifice translumenal endoscopic surgery (NOTES) is a minimally invasive procedure, which utilizes the body´s natural orifices to gain access to the peritoneal cavity. The VTEST^© is a virtual reality NOTES simulator developed at the CeMSIM at RPI to train surgeons in NOTES. A novel 2 DOF decoupled haptic device was designed and built for this simulator. The haptic device can render 5.62 N and 190.05 N-mm of continuous force and torque respectively. In this work we have evaluated the haptic interface and developed a model to accurately describe the system behavior, to further incorporate into an impedance type controller for realistic haptic rendering in the VTEST^©.

Keywords

biomedical education; computer based training; continuing professional development; educational aids; endoscopes; haptic interfaces; medical control systems; rendering (computer graphics); surgery; teaching; virtual reality; 2 DOF decoupled haptic device design; CeMSIM; NOTES training; RPI; VTEST; continuous force; continuous torque; haptic interface model; haptic interface system characterization; impedance type controller; minimally invasive procedure; natural body orifices; natural orifice translumenal endoscopic surgery simulation; peritoneal cavity access; realistic haptic rendering; surgeon training; virtual reality NOTES simulator; Endoscopes; Force; Force feedback; Orifices; Surgery; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society (EMBC), 2014 36th Annual International Conference of the IEEE

Conference_Location

Chicago, IL

ISSN

1557-170X

Type

conf

DOI

10.1109/EMBC.2014.6943607

Filename

6943607