Development of epiduroscopy training simulator using haptic master device

Epiduroscopy is one of the widely implemented procedures in effective diagnosing and curing lumbago patients. Such endoscopic surgery requires much skill to control the surgical instruments well. Therefore, this paper proposes an epiduroscopy training simulator using a haptic master device. The proposed training simulator calculates forces using virtual fixture implemented in a catheter insertion path. The calculated forces are provided as haptic feedback to a user through the haptic master device, and the user is trained to catheter insertion path of expert through the haptic feedback.