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Issue No.02 - Second (2012 vol.5)
pp: 97-108
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
ABSTRACT
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.
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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