Haptic interface of the KAIST-Ewha colonoscopy simulator II

Hyun Soo Woo, Woo Seok Kim, Woojin Ahn, Doo Yong Lee, Sun Young Yi

Research output: Contribution to journalArticlepeer-review

15 Scopus citations


This paper presents an improved haptic interface for the Korea Advanced Institute of Science and Technology Ewha Colonoscopy Simulator II. The haptic interface enables the distal portion of the colonoscope to be freely bent while guaranteeing sufficient workspace and reflective forces for colonoscopy simulation. Its force-torque sensor measures the profiles of the user. Manipulation of the colonoscope tip is monitored by four deflection sensors and triggers computations to render accurate graphic images corresponding to the rotation of the angle knob. Tack sensors are attached to the valve-actuation buttons of the colonoscope to simulate air injection or suction as well as the corresponding deformation of the colon. A survey study for face validation was conducted, and the result shows that the developed haptic interface provides realistic haptic feedback for colonoscopy simulations.

Original languageEnglish
Pages (from-to)746-753
Number of pages8
JournalIEEE Transactions on Information Technology in Biomedicine
Issue number6
StatePublished - 2008

Bibliographical note

Funding Information:
Manuscript received April 22, 2007; revised October 29, 2007. Current version published November 5, 2008. This work was supported in part by the Korea Science and Engineering Foundation (KOSEF) funded by the Korean government (MOST) under Grant R01-2007-000-11353-0, and in part by the Brain Korea 21 Project in 2007.


  • Colonoscopy simulation
  • Haptic interface
  • Medical simulation


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