Design of an Endoscopic Haptic Display System using an Integrated Ring-actuator

Existing virtual reality-based endoscopic simulators lack immersive haptic feedback. We address this need with a one degree-of-freedom haptic display module that can be retrofitted onto an endoscopic simulator. In this paper, we present the design of circumferentially actuated compact ring-mechanisms that provide radial motion for force-reflection on the tube of the endoscope. Both compliant and rigid-body embodiments of the ring-mechanisms are explored in this work. The multi-padded force-reflecting mechanism is designed to apply a maximum force of 5 N and to cover a range of endoscope tubes whose outer diameters range from 10 mm to 15 mm. Design, modeling, electronics, and fabrication of the ring-actuator endoscopic haptic display system are presented in this paper. Keywords—Haptics; Endoscopic Simulator; Ring-actuator