Haptically enhanced VR surgical training system

Abstract This paper proposes a cost-effective VR surgical training system which computes haptic feedback forces when tool interacts with virtual tissues. A 3 degrees of freedom (DoF) reverse linear Delta mechanism is used to render computed force data are then received by the fingertip operator. Additionally, moving plate allows rendering surface properties and lateral occurring due tumor different stiffness parameters below skin surface. Controllers designed implemented regulate device’s end-effector position applied force. The instruments controlled 7DoF serial link manipulator captures operator’s movement utilization various sensors. controllers as well positions evaluated proposed device. mean RMSE error angular displacement 0.0707 N 1.95°, respectively. presented can provide multisensory including visual, auditory interactively depending on input in system.