Mobile virtual endoscope system with haptic and visual information for non-invasive inspection training

VR training system for endoscopic inspection of intestine has been investigated developed by the authors. A mobile total system for hospitals is developed. This "Potable VES" consists of a miniaturized haptic mechanism to provide force sensation to the doctor, microcomputer and LCD display. All of these components are built in tower-type computer case with handle. New mathematical model are formulated and implemented to simulate large deformable intestine and endoscope. Several doctors demonstrate effectiveness of this system for pre-clinical training of basic skill for noninvasive inspection.