PROJECT TITLE :

Abdominal Palpation Haptic Device for Colonoscopy Simulation Using Pneumatic Control

ABSTRACT :

During this paper, we describe the event of a haptic device to be used in a simulator aiming to coach the skills of gastroenterology assistants in abdominal palpation throughout colonoscopy, plus to train team interaction skills for the colonoscopy team. To understand the haptic feedback forces to be simulated by the haptic device, we tend to conducted an experiment with 5 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 see the haptic feedback forces required to simulate a BMI case in response to the $64000-time user interactions. The pneumatic haptic device consisted of a sphygmomanometer bladder because the haptic interface and a fuzzy controller to control the bladder pressure. The haptic device showed smart steady state and dynamic response was adequate for simulating haptic interactions. Tracking accuracy averaged ninety four.a pair of p.c at intervals three hundred ms of the reference input while the user was actively applying abdominal palpation and minor repositioning.