A method is developed for obtaining parameters for tube-like soft-tissues, to be used in urological haptic simulators. A device was designed and built that allows the acquisition of forces and displacements during endoscope insertion in a tube-like soft tissue. The device consists of a mechatronic ball screw mechanism, with a 6 DOF force/ torque sensor attached to it. The steel shaft representing the endoscope, is commanded to follow desired trajectories with micrometric accuracy under the application of an IPD controller, implemented on a dSpace 1103 system. The experimental data acquired is fitted to polynomials to yield a tissue model that can be used to predict insertion forces required for haptic simulator feedback.
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