A Novel Pulley-Based Simulator for Ureteroscopy with Visuo-Haptic Feedback

Jonathan Madera, Craig Peters, Ann Majewicz Fey

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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.

Original languageEnglish (US)
Title of host publication2022 IEEE Haptics Symposium, HAPTICS 2022
PublisherIEEE Computer Society
ISBN (Electronic)9781665420297
StatePublished - 2022
Event27th IEEE Haptics Symposium, HAPTICS 2022 - Virtual, Online, United States
Duration: Mar 21 2022Mar 24 2022

Publication series

NameIEEE Haptics Symposium, HAPTICS
ISSN (Print)2324-7347
ISSN (Electronic)2324-7355


Conference27th IEEE Haptics Symposium, HAPTICS 2022
Country/TerritoryUnited States
CityVirtual, Online

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction


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