소화기 내시경 시뮬레이터를 위한 호형 햅틱장치

Abstract

A 2-dof arc-type haptic device for gastrointestinal endoscopy simulators is designed. The device implements translational and rotational movements of gastrointestinal endoscopy. This design reduces size and noise of the developed haptic device compared with the previous designs. Reflective force is provided by motors connected through wire-driven mechanisms to provide active force feedback, and reduce backlash. The developed haptic device satisfies requirements in force feedback and position accuracy of gastrointestinal endoscopy simulation.