Real-time haptic interface for VR colonoscopy simulation.
Identifieur interne : 000701 ( Ncbi/Merge ); précédent : 000700; suivant : 000702Real-time haptic interface for VR colonoscopy simulation.
Auteurs : Dejan Ilic [Suisse] ; Thomas Moix ; Nial Mc Cullough ; Lindo Duratti ; Ivan Vecerina ; Hannes BleulerSource :
- Studies in health technology and informatics [ 0926-9630 ] ; 2005.
English descriptors
- KwdEn :
- MESH :
Abstract
Colonoscopy is an endoscopic medical procedure where the colon of the patient is examined. This minimally invasive technique is performed with a colonoscope, a long tube with an integrated imaging device at its tip. The doctors performing these procedures require high skills in multiple domains such as hand-eye coordination, visualization, safety and ease at guiding flexible endoscopes. The importance of training colonoscopy procedures rises with the growth of variety of colon diseases. In order to safely train surgeons to these procedures, a computer-assisted haptic simulator is proposed. This paper describes both the haptic hardware interface and virtual reality software that compose the training system. A high friction belt is used to render the required forces and to insure the absence of slippage. A differential drive actuated with two DC motors enables to set the system into translation and rotation. A virtual reality environment has been developed to provide real-time visualisation and force feedback.
PubMed: 15718729
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pubmed:15718729Le document en format XML
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<author><name sortKey="Ilic, Dejan" sort="Ilic, Dejan" uniqKey="Ilic D" first="Dejan" last="Ilic">Dejan Ilic</name>
<affiliation wicri:level="1"><nlm:affiliation>Laboratoire de Systèmes Robotiques, EPFL, Chemin des Machines, ME.B3, 1015 Lausanne, Switzerland.</nlm:affiliation>
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<author><name sortKey="Duratti, Lindo" sort="Duratti, Lindo" uniqKey="Duratti L" first="Lindo" last="Duratti">Lindo Duratti</name>
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<series><title level="j">Studies in health technology and informatics</title>
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<keywords scheme="MESH" xml:lang="en"><term>Colonoscopy</term>
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<front><div type="abstract" xml:lang="en">Colonoscopy is an endoscopic medical procedure where the colon of the patient is examined. This minimally invasive technique is performed with a colonoscope, a long tube with an integrated imaging device at its tip. The doctors performing these procedures require high skills in multiple domains such as hand-eye coordination, visualization, safety and ease at guiding flexible endoscopes. The importance of training colonoscopy procedures rises with the growth of variety of colon diseases. In order to safely train surgeons to these procedures, a computer-assisted haptic simulator is proposed. This paper describes both the haptic hardware interface and virtual reality software that compose the training system. A high friction belt is used to render the required forces and to insure the absence of slippage. A differential drive actuated with two DC motors enables to set the system into translation and rotation. A virtual reality environment has been developed to provide real-time visualisation and force feedback.</div>
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<Title>Studies in health technology and informatics</Title>
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<Abstract><AbstractText>Colonoscopy is an endoscopic medical procedure where the colon of the patient is examined. This minimally invasive technique is performed with a colonoscope, a long tube with an integrated imaging device at its tip. The doctors performing these procedures require high skills in multiple domains such as hand-eye coordination, visualization, safety and ease at guiding flexible endoscopes. The importance of training colonoscopy procedures rises with the growth of variety of colon diseases. In order to safely train surgeons to these procedures, a computer-assisted haptic simulator is proposed. This paper describes both the haptic hardware interface and virtual reality software that compose the training system. A high friction belt is used to render the required forces and to insure the absence of slippage. A differential drive actuated with two DC motors enables to set the system into translation and rotation. A virtual reality environment has been developed to provide real-time visualisation and force feedback.</AbstractText>
</Abstract>
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