Haptic Perception with Artificial Tissues

Abstract

Haptic perception is critical in Minimally Invasive Surgeries (MIS) such as laparoscopic and robotic procedures in which the field of view is limited and the haptic force feedback is distorted or not available. Alternative haptic feedback is rendered by visual elements such as forced tissue deformation or using physical haptic interfaces with augmented reality. These approaches normally need additional training, add-on devices, and maintenance. In this study, we investigate an affordable method for creating a multimodal training simulator that integrates augmented reality (AR), extended reality (XR), and realistic artificial tissues from available human CT data. For the physical artificial tissues our objectives are threefold: first, to objectively measure tissue or organ hardness using a durometer in Shore Units (SU); second, to efficiently produce tissues and organs based on reference SU values and CT data; and third, to create specialized tissues. Additionally, we aim to arrange organs and tissues according to CT data, exemplified by forming the Calot Triangle for cholecystectomy surgery training. Finally, experienced surgeons tested the artificial tissues and organs inside the realistic cavity for basic surgical operation and provided professional feedback.