Haptic interaction with virtual deformable objects

High-fidelity virtual reality (VR) simulations are becoming increasingly attractive in the medical and surgical training field. In this context, the sensory feedback returned to the surgeon or practitioner is of primary importance to create a significant experience. One of the main challenges in delivering VR systems for surgical training and planning that include the possibility to interact with the virtual scene, and render the associated touch sensation to the user, is the real-time simulation of soft tissues. This paper reports preliminary results in the design and implementation of an integrated system that includes dynamic simulation of the interaction with deformable objects and tissues, a VR environment with finger motion tracking, and haptic feedback provided by a wearable device. In addition, it explores the challenges and advances in integrating such technologies with a focus on creating realistic tactile experiences. It also addresses the complexity of combining hardware and software components, proposing some solutions to overcome integration problems.