Design of a Haptic Interface for a Gastrointestinal Endoscopy Simulation

  title={Design of a Haptic Interface for a Gastrointestinal Endoscopy Simulation},
  author={In Sik Yu and Hyun Soo Woo and Hyoung Il Son and Woojin Ahn and Hoeryong Jung and Doo Yong Lee and Sun Young Yi},
  journal={Advanced Robotics},
  pages={2115 - 2143}
  • I. Yu, H. Woo, S. Yi
  • Published 1 November 2012
  • Medicine
  • Advanced Robotics
Abstract This paper presents a new design and analysis of a haptic interface for a gastrointestinal endoscopy simulation. The gastrointestinal endoscopy is a procedure in which the digestive tract and organs of a patient are diagnosed and treated using a long and flexible endoscope. The developed haptic interface incorporates two degrees of freedom (DOF), each of which is necessary to describe the movements of an endoscope during the actual endoscopy procedures. The haptic interface has a… 

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