Implementation of a haptic interface for a virtual reality simulator for flexible endoscopy

A simulation system for flexible endoscopy is described, based on virtual reality techniques. The physician moves the flexible endoscope inside a pipe, in which forces are applied to it. In addition the navigation wheels provide force feedback from the bending of the endoscope´s tip. The paper focuses on the design and implementation of the special purpose haptic display which actively generates forces to model the complex interaction of physician, endoscope and patient.