Inserting Simulator of Fiber through Tube by using Haptic Interface

Abstract

A dexterous action of human for catheter inserting is one of the most significant medical skills. Hence, training systems in modern medical or surgery practice are required to provide kinesthetic and tactile interactions with environments. In this report, a virtual haptic device for training is developed. By impedance control of DC motor, human can feel the friction and collision with inner wall of virtual tube during operations. Time for insertion to be performed is compared between a virtual tube operation and a real tube operation.