Master device for teleoperated needle insertion-type interventional robotic system.

This paper proposes a new master device for teleoperated needle insertion-type interventional robotic system. The 5-DOF master device is optimally designed based on the newly defined interventional procedures and the physicians' requirements. It comprises a 2-DOF rotational mechanism for adjustment of needle orientation, a 2-DOF translational mechanism for fine-tuning of needle entry point, and a handle assembly.

Sectional Analysis of Learning on the KAIST-Ewha Colonoscopy Simulation II.

The goal of this study is to validate the KAIST-Ewha Colonoscopy Simulation II as a training tool by examining the sectional learning curve of the trainees' performance on the simulation. Nine subjects including three fellows and six residents in the internal medicine participated in this study. All the subjects practiced the colonoscopy on the simulation until their performance surpasses the criteria preset by colonoscopy experts.

Haptic interface of the KAIST-Ewha colonoscopy simulator II.

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.

Improvement of colonoscopy skills through simulation-based training.

The objective of this study is to determine whether targeted colonoscopy skills are acquired through simulation-based training using the KAIST-Ewha Colonoscopy Simulator II, and the acquired skills can be transferred to colonoscopy to actual patients. Eleven subjects consisting of six fellows and five residents participated in the study. The fellows and residents were divided into two groups, simulation-trained group and control group.

Improved haptic interface for colonoscopy simulation.

This paper presents an improved haptic interface of the KAIST-Ewha colonoscopy simulator II. The haptic interface enables the distal portion of the colonoscope to be freely bent while guaranteeing enough workspace and reflective forces for colonoscopy simulation. Its force-torque sensor measures profiles of the user.

Clinical evaluation of the KAIST-Ewha Colonoscopy Simulator II.

This paper presents clinical evaluation of the KAIST-Ewha Colonoscopy Simulator II that is extended from the previous version jointly developed by KAIST and Ewha Womans University. Realism validation was carried out twice before the clinical evaluation. Nine fellows and six residents participated in this part of clinical evaluation study, and they were divided into two groups, simulation-trained and control groups.

Non-clinical evaluation of the KAIST-Ewha Colonoscopy Simulator II.

This paper presents non-clinical evaluation of the KAIST-Ewha Colonoscopy Simulator II. Thirty one engineering-major students with no medical background were divided into two groups after they had been given instruction on colonoscopy and its operation. The baseline evaluation showed that both groups were equivalent in the level of the colonoscopy skills.

Centerline-based parametric model of colon for colonoscopy simulator.

This paper presents a centerline-based parametric model of colon for collision detection and visualization of the colon lumen for colonoscopy simulator. The prevailing marching cubes algorithm for 3D surface construction can provide a high resolution mesh of triangular elements of the colon lumen from CT data. But a well organized mesh structure reflecting the geometric information of the colon is essential to fast and accurate computation of contact between the colonoscope and colon, and the corresponding reflective force in the colonoscopy simulator.

Haptic device for colonoscopy training simulator.

A new 2-DOF haptic device for colonoscopy training simulator employing flexible endoscopes, is developed. The user operates the device in translational and roll directions. The developed folding guides of the device keep the endoscope tube straight.