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A pneumatic haptic module for simulation of catheters used in gastrointestinal endoscopy
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
2017 (English)In: International Conference on Control, Automation and Systems, IEEE Computer Society, 2017, 287-291 p., 7832334Conference paper, Published paper (Refereed)
Abstract [en]

This paper proposes a haptic module for simulation of catheters used in GI (gastrointestinal) endoscopy. The designed haptic interface provides translational force feedback in one degree-of-freedom using the pneumatic module made of silicon rubber. The pneumatic module has a cylindrical shape with a hollow space inside. The space inside of the module can be filled with air activated by a syringe pump. The module grasps the catheter traveling through the module. The syringe pump is controlled to insufflate or remove air into the space in real-time. Experimental results show that the feedback force and the amount of injected air to the module have a linear relationship. The proposed interface is able to generate necessary force feedback during catheter simulation.

Place, publisher, year, edition, pages
IEEE Computer Society, 2017. 287-291 p., 7832334
Keyword [en]
Catheter simulation, Endoscopy simulation, Haptic interface, Medical simulation
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-208446DOI: 10.1109/ICCAS.2016.7832334ISI: 000401800200044Scopus ID: 2-s2.0-85014018368ISBN: 9788993215120 (print)OAI: oai:DiVA.org:kth-208446DiVA: diva2:1106441
Conference
16th International Conference on Control, Automation and Systems, ICCAS 2016, HICOG, yeongju, South Korea, 16 October 2016 through 19 October 2016
Note

QC 20170607

Available from: 2017-06-07 Created: 2017-06-07 Last updated: 2017-06-19Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf