A prototype virtual haptic bronchoscope

In this paper, we describe the design of the hardware and software for a virtual bronchoscope with force feedback. A haptic interface allows surgeons to feel the reaction force of virtual pneumonic surgery as if they were touching the area directly. We present novel algorithms for haptic force rendering, and examine its ability to display force. The rendering algorithms have been interfaced with a force-reflecting device. This virtual haptic bronchoscope is of significance in training inexperienced doctors in pneumonic diagnosis and surgery.

Authors

• Qi Wang
• Yongsheng Ou
• Yangsheng Xu

Keywords

• Virtual prototyping
• Haptic interfaces
• Surgery
• Rendering (computer graphics)
• Force feedback
• Medical diagnostic imaging
• Bronchoscopy
• Surges
• Instruments
• Lungs
• Surgeons
• Reaction Force
• Magnetic Resonance Imaging
• Degrees Of Freedom
• Spring Constant
• Exponential Function
• Friction Coefficient
• Cycle Control
• Control Task
• Friction Force
• Joint Space
• Force Data
• Preoperative Diagnosis
• Communication Tasks
• Servo Motor
• Insertion Process
• Training Platform
• Revolute Joints
• Bronchoscopic Procedures