Haptic integration of data-driven forces required to gain access using a probe for minimally invasive spine surgery via cadaveric-based experiments towards use in surgical simulators

Abstract

The employment of force-feedback haptic devices in surgical simulators has faced several challenges given the high computational cost. In cases of minimally invasive spinal fusion surgeries, the internal tissue deformation cannot be visually perceived. This presents an opportunity to render haptic forces independent of visual simulation. Hence, this paper proposes a high-speed and accurate algorithm designed specifically to exploit this opportunity. Experimental cadaveric data were curve fitted then employed to generate force feedback. Results showed a minimum curve fit value of R2 = 0.88 when comparing the output force profiles computed by the algorithm in comparison to the raw input experimental data while rendering at 1 KHz.