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Abdominal Palpation Haptic Device for Colonoscopy Simulation Using Pneumatic Control
Second 2012 (vol. 5 no. 2)
pp. 97-108
ASCII Text
x 
 
Mario Cheng, Welber Marinovic, Marcus Watson, Sébastien Ourselin, Josh Passenger, Hans De Visser, Olivier Salvado, Stephan Riek, "Abdominal Palpation Haptic Device for Colonoscopy Simulation Using Pneumatic Control," IEEE Transactions on Haptics, vol. 5, no. 2, pp. 97-108, Second, 2012.
 
 
BibTex
x
 
@article{ 10.1109/TOH.2011.66,
author = {Mario Cheng and Welber Marinovic and Marcus Watson and Sébastien Ourselin and Josh Passenger and Hans De Visser and Olivier Salvado and Stephan Riek},
title = {Abdominal Palpation Haptic Device for Colonoscopy Simulation Using Pneumatic Control},
journal ={IEEE Transactions on Haptics},
volume = {5},
number = {2},
issn = {1939-1412},
year = {2012},
pages = {97-108},
doi = {http://doi.ieeecomputersociety.org/10.1109/TOH.2011.66},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - JOUR
JO - IEEE Transactions on Haptics
TI - Abdominal Palpation Haptic Device for Colonoscopy Simulation Using Pneumatic Control
IS - 2
SN - 1939-1412
SP97
EP108
EPD - 97-108
A1 - Mario Cheng,
A1 - Welber Marinovic,
A1 - Marcus Watson,
A1 - Sébastien Ourselin,
A1 - Josh Passenger,
A1 - Hans De Visser,
A1 - Olivier Salvado,
A1 - Stephan Riek,
PY - 2012
KW - Medical simulation
KW - force feedback
KW - system design and analysis
KW - haptic rendering.
VL - 5
JA - IEEE Transactions on Haptics
ER -
 
Mario Cheng, University of Queensland, Brisbane, ICTC The Australian e-Health Research Centre, Royal Brisbane, and Women's Hospital, Herston
Welber Marinovic, University of Queensland, Brisbane
Marcus Watson, Queensland Health Skills Development Centre, Royal Brisbane and Women's Hospital, Herston
Sébastien Ourselin, University of College London, London
Josh Passenger, ICTC The Australian e-Health Research Centre, Royal Brisbane and Women's Hospital, Herston
Hans De Visser, ICTC The Australian e-Health Research Centre, Royal Brisbane and Women's Hospital, Herston
Olivier Salvado, ICTC The Australian e-Health Research Centre, Royal Brisbane and Women's Hospital, Herston
Stephan Riek, University of Queensland, Brisbane
In this paper, we describe the development of a haptic device to be used in a simulator aiming to train the skills of gastroenterology assistants in abdominal palpation during colonoscopy, as well as to train team interaction skills for the colonoscopy team. To understand the haptic feedback forces to be simulated by the haptic device, we conducted an experiment with five participants of varying BMI. The applied forces and displacements were measured and hysteresis modeling was used to characterize the experimental data. These models were used to determine the haptic feedback forces required to simulate a BMI case in response to the real-time user interactions. The pneumatic haptic device consisted of a sphygmomanometer bladder as the haptic interface and a fuzzy controller to regulate the bladder pressure. The haptic device showed good steady state and dynamic response was adequate for simulating haptic interactions. Tracking accuracy averaged 94.2 percent within 300 ms of the reference input while the user was actively applying abdominal palpation and minor repositioning.

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Index Terms:
Medical simulation, force feedback, system design and analysis, haptic rendering.
Citation:
Mario Cheng, Welber Marinovic, Marcus Watson, Sébastien Ourselin, Josh Passenger, Hans De Visser, Olivier Salvado, Stephan Riek, "Abdominal Palpation Haptic Device for Colonoscopy Simulation Using Pneumatic Control," IEEE Transactions on Haptics, vol. 5, no. 2, pp. 97-108, Second 2012, doi:10.1109/TOH.2011.66
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