Bimanual haptic workstation for laparoscopic surgery simulation

Venkat Devarajan, Daniel J Scott, Daniel Jones, Robert V Rege, Robert Eberhart, Charlie Lindahl, Peter Tanguy, Raul Fernandez

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

9 Scopus citations


Realistic laparoscopic surgical simulators will require real-time graphic imaging and tactile feedback. Our research objective is to develop a cost-effective haptic workstation for the simulation of laparoscopic procedures for training and treatment planning. The physical station consists of a custom-built frame into which laparoscopic trocars and surgical tools may be attached/inserted and which are continuously adjustable to various positions and orientations to simulate multiple laparoscopic surgical approaches. Instruments inserted through the trocars are attached to end effectors of two haptic devices and interfaced to a high speed PC with fast graphics capability. The haptic device transduces 3D motion of the two manually operated surgical instruments into slave maneuvers in virtual space. The slave instrument tips probe the simulated organ. Simulations currently in progress include: 1) Surface-only renderings, deformation, and haptic interactions with elements in the gall gladder surgical field; 2) Voxel- based simulations of the bulk manipulation of tissue; 3) laparoscopic herniorrhaphy. This system provides force feed-forward from the grasped tools to the contact tissue in virtual space, with deformation of the tissue by the virtual probe, and force feedback from the deformed tissue to the operator's hands.

Original languageEnglish (US)
Title of host publicationMedicine Meets Virtual Reality 2001 - Outer Space, Inner Space, Virtual Space
PublisherIOS Press
Number of pages3
ISBN (Print)1586031430, 9781586031435
StatePublished - Jan 1 2001
Event2001 Medicine Meets Virtual Reality Conference: Outer Space, Inner Space, Virtual Space, MMVR 2001 - Newport Beach, CA, United States
Duration: Jan 24 2001Jan 27 2001

Publication series

NameStudies in Health Technology and Informatics
ISSN (Print)0926-9630
ISSN (Electronic)1879-8365


Other2001 Medicine Meets Virtual Reality Conference: Outer Space, Inner Space, Virtual Space, MMVR 2001
Country/TerritoryUnited States
CityNewport Beach, CA

ASJC Scopus subject areas

  • Biomedical Engineering
  • Health Informatics
  • Health Information Management


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