A virtual environment training system for haptic laparoscopic surgery

Most of the existing laparoscopic simulations which use simple objects are only for the purpose of the training of laparoscopic surgical skills. We have designed and developed an early prototype of a laparoscopic simulation system in which almost all of the soft tissue organs are modeled as deformable models which can be manipulated using a laparoscopic instrument with haptic feedback. Physics-based modeling is applied to realize collision detection, force rendering and elasticity deformation. A new mechanism to analyze and evaluate the injuries to the soft issues is introduced. Preliminary experimental results show that the simulator can meet the requirement of 1 kHz haptic loop update rate under complex virtual scen