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Published on: January 20, 2019
A Decoupled 2 DOF Force Feedback Mechanism for the Virtual Translumenal Endoscopic Surgical Trainer (VTEST
Saurabh Dargar1, Benjamin Lam1, Crystal Horodyski1
1Center for Modeling, Simulation and Imaging in Medicine (CeMSIM), Rensselaer Polytechnic Institute, Troy, New York.
Abstract:
Natural orifice translumenal endoscopic surgery (NOTES) is a minimally invasive procedure which utilizes the body's natural orifices to gain access to the peritoneal cavity. The VTEST is a virtual reality NOTES cholecystectomy simulator being built at the CeMSIM at RPI. We have developed a 2 DOF decoupled haptic device, which can provide translational and rotational haptic feedback to the user handling the flexible endoscope. Preliminary results indicate the device is capable of providing realistic feedback to the user while operating the device.
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