Haptic Rendering Using Reality-Based Force Profiles in Surgical Simulation

This paper presents a novel method for simplifying kinesthetic haptic rendering of complex contact interactions in arthroscopic surgery training simulators using reality-based force profiles. We demonstrate continuous kinesthetic feedback for applications to arthroscopic knee portal creation and diagnostic meniscus examination. This involves measuring characteristic force profiles in ex vivo experiments, simulator implementation in SOFA, and performing user validation experiments. When comparing the method with linear-elastic-based haptic feedback for meniscus stiffness discrimination, novices had difference thresholds of 1.80 MPa (linear-elastic) and 1.47 MPa (reality-based), while experts showed thresholds of 0.99 MPa and 1.39 MPa, respectively, indicating finer sensitivity among experts. Experts also used significantly less force (${\mathit{p}}\mathbf {< 0.05}$) and had shorter decision times (${\mathit{p}}\mathbf {< 0.05}$) than novices across both methods, indicating construct validity. Although kinesthetic feedback was verified with ex vivo experiments for portal creation, user validation was here inconclusive due to minor inconsistencies in the integration of visual and haptic feedback. Limitations include triggering material removal via instrument penetration instead of haptic force limits, as well as omitting contact vibrations. The method gives only a minor reduction in computation speed. Examples are available on GitHub.