This paper describes the instrumentation of a clinical colonoscope needed for a novel colonoscopy simulation framework. The simulator consists of a compact and portable haptic interface and a virtual reality environment to provide real-time visualization. The proposed instrumentation enables tracking different functions of the colonoscope while keeping the ergonomic unchanged.
Luciano Andres Abriata, Fabio Jose Cortes Rodriguez
Ronan Boulic, Bruno Herbelin, Mathias Guy Delahaye