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Drastically advanced “Portable Virtual Endoscope System” (Portable VES) with haptic ability is developed. This Portable VES can present not only computer graphical image of internal view from virtual intestine but also reaction force through the endoscope. Unlike previous VES reported in MICCAI’98, the portable VES has simpler drive mechanism with higher performance. Moreover, a large deformable dynamical model of both intestine and endoscope are formulated and implemented in the Pentium based a micro computer. Basic performance for clinical training is verified successfully by clinical surgeon.

Portable Virtual Endoscope System with Force and Visual Display for Insertion Training