Soft object simulation and visuo-haptic interaction for haptic collaborative virtual environment with realistic sensation

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We have developed haptic collaborative virtual environments where remote hands-on training of minimally invasive surgery become enabled by tactile feedback.For this purpose, we have developed: (1) an estimation method of deformation parameters of non-uniform soft objects, with use of micro force sensors to observe the internal structure of the soft objects, (2) non-uniform soft object simulation with online-remesh, (3) a visualization method of large volume data that have linked the deformation of the microstructure, such as blood vessels and tumor, and (4) a prototype of remote hands-on training system of minimally invasive surgery among three remote locations. We have demonstrated the performance of the proposed system through experimental verification.