Patent ID: 7819799

Claim:
An endoscope comprising: an endoscope body defining a first channel having a longitudinal axis, the first channel adapted to receive an elongated member having a first end and a second end, the first end operable by a user; and a haptic feedback system coupled to the endoscope body and defining a second channel, the second channel oriented along the longitudinal axis and adapted to receive the elongated member, the haptic feedback system comprising: an actuator adapted to contact the elongated member; a first sensor coupled to the actuator and adapted to sense a first rotational force applied to the elongated member about the longitudinal axis; and a second sensor coupled to the actuator and adapted to sense a rotational movement of the elongated member about the longitudinal axis, wherein the actuator is configured to apply a second rotational force about the longitudinal axis to the elongated member based on the first rotational force and the rotational movement, and wherein the second sensor is proximal to an end of the endoscope body.