Haptic Simulator for Trocar Insertion Training

Aldo Galvan, Andrew K. Da Costa, Jessica Shields, Kimberly Kho, Ann Majewicz Fey

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


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.

Original languageEnglish (US)
Title of host publication2021 IEEE World Haptics Conference, WHC 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781665418713
StatePublished - Jul 6 2021
Event2021 IEEE World Haptics Conference, WHC 2021 - Virtual, Montreal, Canada
Duration: Jul 6 2021Jul 9 2021

Publication series

Name2021 IEEE World Haptics Conference, WHC 2021


Conference2021 IEEE World Haptics Conference, WHC 2021
CityVirtual, Montreal

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Control and Optimization
  • Sensory Systems


Dive into the research topics of 'Haptic Simulator for Trocar Insertion Training'. Together they form a unique fingerprint.

Cite this