부산대학교 도서관

This paper proposes a pulley-based haptic simulator device as training tool for ureteroscopy allowing for continuous insertion into a virtual ureter. The device motor provides a resistive feedback force to familiarize users with the forces experienced during surgery. We conducted a preliminary evaluation study with 7 subjects to compare subject performance using the system with visual and visuo-haptic feedback. Results support the utility of the device in terms of range forces rendered to the user and accurate following of the ureter profile. The addition of haptic feedback caused the subjects to perform the task more slowly. Future studies will evaluate if haptic feedback leads to enhanced skill development long-term with extended practice.