Organ exclusion simulation with multi-finger haptic interaction for open surgery simulator.

Exclusion is a surgical manipulation of pushing aside organ in open surgery. Recently, training opportunity of surgeon is decreasing due to animal protection and patient's rights. In this study, we propose an organ exclusion training simulator with multi-finger haptic device and stress visualization. The method was applied to a medical application of exclusion which is an important manipulation to make a hidden tissue visible or to enlarge workspace. The system equips FEM-based soft tissue deformation and multi-finger haptic device. Real-time simulation was achieved with a prototype system. Experimental results of training trial suggested the effectiveness of the system and stress visualization for exclusion training. Results of subjective evaluation by surgeons were highly positive as to realism of manipulation and usefulness of the simulator.