4-DOF Haptic Rendering for Hysteroscopic Surgery Simulation

Surgical simulation is one of the ways to train surgical skills. The haptic interaction between surgical instruments and soft tissues is one of the basic functions of surgical simulation. In this paper, we propose a 4-DOF haptic rendering method for hysteroscopic surgery simulation. The optimal positioning of a virtual tool to prevent penetration into soft tissue is determined by minimizing the elastic potential energy of the simulation system. The experimental results show that our method can produce smooth feedback force and real-time rigid-soft interaction deformation.