Haptic Simulator for Trocar Insertion Training

Minimally invasive surgery has become widespread due to its smaller incisions and faster recovery times as compared to traditional surgery. However, laparoscopic surgery is not without challenges and certain serious safety risks for the patient. Trocar insertion is a necessary preparatory procedure for laparoscopic surgery during which a port is created through which laparoscopic instruments can be placed in the abdomen. This task is associated with a relatively high injury rate, typically attributed to surgical error. Previous studies have found that with sufficient training, these errors can be reduced or prevented, however, limited technologies exist to practice this procedure outside the operating room. This paper presents a novel admittance haptic display, based on a Stewart platform, that is designed to simulate the trocar insertion procedure. The device is shown to be able to render the necessary range of forces necessary to simulation trocar insertion. In addition, a simplified numerical model is developed which captures key characteristics of a typical trocar insertion force profile through multiple layers of the anterior abdominal wall. The device is shown to achieve promising preliminary results as a haptic display and medical training device.