A six DOF haptic interface for medical virtual reality applications: design, control and human factors

We present a haptic interface dedicated to endoscopy training, where the endoscope is allowed to react to contact forces along six degrees of freedom. The model takes into account end point position and appropriate contact forces. The illusion of physical movement inside the environment is obtained by computing control inputs based on the impedance environment. The user can manipulate and react with the simulated virtual environment.