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This paper presents an improved haptic interface for the Korea Advanced Institute of Science and Technology Ewha Colonoscopy Simulator II. The haptic interface enables the distal portion of the colonoscope to be freely bent while guaranteeing sufficient workspace and reflective forces for colonoscopy simulation. Its force-torque sensor measures the profiles(More)
The objective of this study is to determine whether targeted colonoscopy skills are acquired through simulation-based training using the KAIST-Ewha Colonoscopy Simulator II, and the acquired skills can be transferred to colonoscopy to actual patients. Eleven subjects consisting of six fellows and five residents participated in the study. The fellows and(More)
This paper presents a centerline-based parametric model of colon for collision detection and visualization of the colon lumen for colonoscopy simulator. The prevailing marching cubes algorithm for 3D surface construction can provide a high resolution mesh of triangular elements of the colon lumen from CT data. But a well organized mesh structure reflecting(More)
This paper presents a prototype system for robot-assisted ultrasound diagnosis. The system includes master-slave configuration integrated with ultrasound diagnostic machine. We designed a new slave robot based on rotary Stewart platform and the conventional US probe is installed inside of the platform and contacts with patient's skin through the hole in the(More)
This paper presents non-clinical evaluation of the KAIST-Ewha Colonoscopy Simulator II. Thirty one engineering-major students with no medical background were divided into two groups after they had been given instruction on colonoscopy and its operation. The baseline evaluation showed that both groups were equivalent in the level of the colonoscopy skills.(More)
It is important to control impedance between a patient and a robot to maximize the effect of the robot rehabilitation therapy. This paper presents a 4 DOF exoskeleton robot for elbow and wrist rehabilitation, which includes a unified actuator module per each joint. The unified actuator module consists of a frameless motor, an incremental encoder, an(More)
The new passivity condition including the human arm impedance shows that the achievable maximum stiffness at each sampling period depends on the local minimum viscosity of the human arm during the sampling period. Based on the analytical results and the characteristics of the human arm, a new control scheme is proposed to improve the performance of the(More)
This paper presents an improved haptic interface of the KAIST-Ewha colonoscopy simulator II. The haptic interface enables the distal portion of the colonoscope to be freely bent while guaranteeing enough workspace and reflective forces for colonoscopy simulation. Its force-torque sensor measures profiles of the user. Manipulation of the colonoscope tip is(More)