Virtual endoscope system with force sensation

We have developed a Virtual Endoscope System (VES) with force sensation to train inexperienced young doctors and simulate operations that require special technical skills. In this paper we describe the force simulation mechanism employed by our VES and dynamical models of an endoscope and colon. The force simulation mechanism was developed with the use of four rubber rollers and differential gears. The simple structure of this mechanism enables easy control and stable linear and rotational drive of the endoscope, and we have confirmed its force simulation ability by several experiments. We also developed the dynamical models of an endoscope and colon to calculate reactive force that doctors receive from a colon in real-time, and we confirmed the accuracy of these models by, software simulation of endoscopic. We believe this system is adequate for training young doctors in endoscopic insertion.