Design of a haptic interface for a gastrointestinal endoscopy simulation

In Sik Yu, Hyun Soo Woo, Hyoung Il Son, Woojin Ahn, Hoeryong Jung, Doo Yong Lee, Sun Young Yi

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1 Scopus citations


This paper presents a new design and analysis of a haptic interface for a gastrointestinal endoscopy simulation. The gastrointestinal endoscopy is a procedure in which the digestive tract and organs of a patient are diagnosed and treated using a long and flexible endoscope. The developed haptic interface incorporates two degrees of freedom (DOF), each of which is necessary to describe the movements of an endoscope during the actual endoscopy procedures. The haptic interface has a translational motion mechanism to implement the insertion movement of the endoscope, and a rotational motion mechanism to implement the rotational movement of the endoscope. The endoscope included in the haptic interface is supported by a folding guide to prevent the endoscope from buckling. Force feedback in each direction is provided by wire-driven mechanisms. The developed haptic interface has a workspace, sensitivity, and maximum attainable force and torque enough to simulate the endoscopy procedures such as colonoscopy, upper GI (gastrointestinal) endoscopy, and endoscopic retrograde cholangiopancreatography (ERCP). The developed haptic interface is applied to implementation of a colonoscopy simulation. Performance including force bandwidth is evaluated through experiments and simulation.

Original languageEnglish
Pages (from-to)2115-2143
Number of pages29
JournalAdvanced Robotics
Issue number18
StatePublished - 1 Dec 2012

Bibliographical note

Funding Information:
This research was supported by a Korea Research Foundation grant funded by the Korean government (MOEHRD, Basic Research Promotion Fund, KRF-2008-314-D00015)


  • colonoscopy simulation
  • endoscopy simulation
  • gastrointestinal endoscopy simulation
  • haptic interface
  • medical simulation


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