Goal of this thesis is to develop a catheter haptic device for training of gastrointestinal simulation. Catheter simulation is a pair with navigation simulation of endoscope. Instrument channel port is the appropriate position which can avoid interference with the pre-developed simulator for endoscopic navigation. Device volume and weight should be small for installation at this position. Passive braking method is good to small device, and it is suitable for force ranges of catheter operations of ERCP and colonoscopy.
Realized device consists of two mechanisms, braking mechanism and position sensing mechanism. Solenoid is used as actuator in braking mechanism and rotary encoders are used in position sensing mechanism. They are so small that it is good to reduce the whole size of device. The realized device has 63 $\times$ 46 $\times$ 39 mm volume and 109 grams weight. And they show force output of 2N ~ 7N and resolution of 0.02mm. It covers requirements of device so that it is enough to develop the catheter haptic device in the research.
Solenoid shows proportional property between force and voltage. And output force of complete device also shows proportional property with voltage. Therefore, the force exerted to user’s hand can be regulated to desired force by voltage change. The relative error between desired force and actual force is less than 10%. Additionally, device can express the stronger force than target range of force. So, it can be used as a good option to make simulation better.