Haptic Virtual Fixture Control for Interactive Robotic Surgical Training

Virtual reality–based training systems for robotic surgery have received significant research attention over the past decade. However, many existing systems do not provide realistic feedback related to the sense of touch during instrument–tissue interactions, nor do they accurately model the deformation behaviour of soft tissues. This thesis addresses these challenges through the development of a haptic-based virtual control architecture combined with a real-time soft tissue deformation framework. The proposed framework is validated through extensive numerical and experimental studies.