Colonoscopy simulator with enhanced haptic realism and visual feedback

Woo Jin Ahn, Woo Seok Kim, Hyun Soo Woo, Kyungno Lee, Jang Ho Cho, Doo Yong Lee, Sun Young Yi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations


This paper presents the KAIST-Ewha colonoscopy simulator II with increased haptic fidelity as well as visual feedback. The colonoscopy simulator includes a specially developed haptic interface and optimized colon models constructed from CT data of actual patients. The colonoscopy simulator provides with enhanced haptic realism, which is made possible by employing a haptic device with decoupled translational and roll force-feedback mechanisms. Manipulation of the colonoscope tip is monitored by four deflection sensors, and triggers computation to render accurate graphic images corresponding to the knob rotation. A photo-sensors unit is developed to simulate jiggling motion which is one of the important colonoscopy skills to fold and straighten the colon. Friction in the haptic device is compensated by using force-torque sensors, and the force-torque profile during simulation is also logged by these sensors. The colonoscopy simulator employs a centerline-based parametric modeling of the colon for fast and accurate collision detection and haptic response between the colon and the colonoscope. The developed Colon Modeler provides with patient-customized colon models, and various training scenarios including rare cases.

Original languageEnglish
Title of host publicationIFMBE Proceedings
EditorsSun I. Kim, Tae Suk Suh
PublisherSpringer Verlag
Number of pages4
ISBN (Print)9783540368397
StatePublished - 2007
Event10th World Congress on Medical Physics and Biomedical Engineering, WC 2006 - Seoul, Korea, Republic of
Duration: 27 Aug 20061 Sep 2006

Publication series

NameIFMBE Proceedings
ISSN (Print)1680-0737
ISSN (Electronic)1433-9277


Conference10th World Congress on Medical Physics and Biomedical Engineering, WC 2006
Country/TerritoryKorea, Republic of

Bibliographical note

Publisher Copyright:
© International Federation for Medical and Biological Engineering 2007.


  • Colonoscopy
  • Colonoscopy simulation
  • Haptic interface
  • Haptics


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