A haptic interface for simulation of catheter in gastrointestinal endoscopy

This paper presents a haptic interface for simulation of catheter operations used in gastrointestinal endoscopy. The haptic device is small and light to be attached to the instrument channel port of the actual endoscope handle used in the endoscopy simulation. The interface is a passive brake type. Solenoids and springs are used for force feedback. The feedback force is regulated by voltage change. The interface is satisfactory in providing the force range of actual endoscopic operations. Three medical experts of the gastrointestinal endoscopy participated in the evaluation of the developed haptic interface, and the results are satisfactory.