Virtual endoscope system with force sensation

We develop a virtual endoscope system (VES) with force sensation to train inexperienced 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 confirm its force simulation ability by several experiments. We also develop the dynamical models of an endoscope and colon to calculate reactive force that doctors receive from a colon in real-time, and we confirm the accuracy of these models by software simulation. We believe this system is adequate for training young doctors in endoscopic insertion.