A New Hardware Platform 

Opportunity For New Medical Training 

The Haptic Avatar system aims to take virtual reality minimal invasive surgery training to a new level. There are mainly three keys to accomplish this:


The first key is that the haptic device is enclosed in a slim design that contains all necessary functionality such as motors, sensors, power, amplifiers and control. The design allows to place one haptic device next to another, with only 50mm spacing, and this makes it possible to setup a realistic portal positioning. The quick connection of a haptic device also allows for a simple setup and change of setup.


The second key is that the instruments are decoupled from the haptic device. The trainee can pull out one instrument and put another one in. The haptic device will detect and identify the instrument type and no specific user input is needed. The new instrument will show up in the simulation and the training procedure can go on without interference. The main surgeon trainee can therefore exercise on truly difficult elements in the procedure, and if a team training is ongoing, it will also train a scrub nurse trainee a more realistic handling and prepration of instruments.

The third key is that Haptic Avatar has full force feedback in all degrees of freedom (DOF). The haptic device has four DOFs and some relevant instruments also have force feedback. An example a of instruments where force feedback brings a new sensation are, grasping forceps, scissors, staplers etc.


A unique way of providing a more competent and powerful platform for medical simulations


A unique way of providing a more competent and powerful platform for medical simulations


A unique way of providing a more competent and powerful platform for medical simulations


A unique way of providing a more competent and powerful platform for medical simulations


Haptic Device

The haptic device has a portal like part where an instrument is inserted. Connect it to USB and it is up and running. The internal battery will power the motors and the motor controller and amplifiers will give a high dynamic force feedback.

The portal has a LED which can be lit to give the user a guidance on the device status.

The internal computer accepts both external forces set out from the host (simulation) computer, but forces can be further refined by using collision primitives and internal collsion detection and force generation.

Haptic Handle

The grasper is one of the handles that has force feedback. There are also graspers without force feedback.

All instruments has an identification tip that the haptic device reads when the instrument is inserted..




The scope/camera has three general purpose buttons and has also a zoom knob. The angle between the camera and the scope is measured with an absolute angular measurement, so that the user can manipulate the scope/camera in a realistic way. This is particularly important for the exercise when handling angled scopes.

Instrument Box

All instruments that has any sensing (like a handle movement), except for the scope/camera, is connected to the Instrument Box (IB). The IB reads the sensors in the instruments and provides force feedback where applicable. 6 instruments can be connected to the IB, which is sufficient for most procedures. A double switch pedal can also be connected to it. The IB is connected to USB and has an internal controller and motor amplifier, just like the haptic device.