The Haptic Device (HD) is the main component in the Haptic Avatar system. It has a trocar-like insertion port, where a surgical instrument can be inserted (any instrument in the Haptic Avatar family HA-IN-XXX). The HD tracks the instrument pose (three angles and an insertion length) and provides force feedback in degrees of freedom. When an instrument is inserted, the HD detects and identifies it, which allows for a fluent and realistic handling of instruments . The HD can be attached to a quick connector mounting bracket (HA-FA-001, sold separately).
The Haptic Device communicates via USB. See the datasheet for performance specifications.