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    Abdominal palpation haptic device for colonoscopy simulation using pneumatic control

    Access Status
    Fulltext not available
    Authors
    Cheng, M.
    Marinovic, Welber
    Watson, M.
    Ourselin, S.
    Passenger, J.
    De Visser, H.
    Salvado, O.
    Riek, S.
    Date
    2012
    Type
    Journal Article
    
    Metadata
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    Citation
    Cheng, M. and Marinovic, W. and Watson, M. and Ourselin, S. and Passenger, J. and De Visser, H. and Salvado, O. et al. 2012. Abdominal palpation haptic device for colonoscopy simulation using pneumatic control. IEEE Transactions on Haptics. 5 (2): pp. 97-108.
    Source Title
    IEEE Transactions on Haptics
    DOI
    10.1109/TOH.2011.66
    ISSN
    1939-1412
    School
    School of Psychology and Speech Pathology
    URI
    http://hdl.handle.net/20.500.11937/50324
    Collection
    • Curtin Research Publications
    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.

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