04/5 High fidelity haptic feedback

		Haptic device

During the simulation the surgeon can feel the contact forces with the virtual organ at the handle of the surgery tool. These forces are rendered by the haptic device, which has been developed during Co-Me phase 1.

The presented device allows to insert and to remove original surgery tools during the training session and considers the anatomic characteristics of hysteroscopy.

Also the surgery tool allows interactive manipulation during the simulation session: the displacement of the cutting tool is possible, the in- and out-flow of the fluid balance can be regulated and the camera rotation and focus can be adapted by the surgeon. As the device is very compact it remains completely hidden from the surgeon's eyeview within a torso.

The haptic device comprises the mechanical structure, electronics and control. Optimisation of the subsystems and of their interaction is mandatory for realistic haptic feedback. One principal goal of the activities in Co-Me phase 2 is to achieve a maximum in haptic realism. This allows the perception of even fine differences in soft tissue behaviour or of very thin tissue, which is an important aspect of the simulator. Hardware extensions will consider additional steps of a typical hysteroscopy intervention. For validation the system will be evaluated in a clinical environment.