Towards a Prototype For Virtual Reality and Haptic Feedback Integration in Computer Assisted Surgical Training

Haptic interfaces enhance computer-assisted training for minimally invasive surgery by simulating instrument interaction forces with virtual human anatomical structures, providing realistic haptic feedback. This patient-free simulation method helps improve surgical skills for medical students and novice surgeons. This paper presents VR-CAST, a prototype design of a Computer-Assisted Surgical Trainer (CAST) that integrates virtual reality (VR) with haptic rendering to deliver kinesthetic and tactile feedback for surgical skill development. VR-CAST incorporates hardware and software layers that support a 1 kHz frequency response, tissue-specific virtual structures, and virtual avatars of surgical instruments. Force feedback is rendered to simulate interactions between virtual anatomy and physical surgical tools. The prototype follows a three-phase approach: (1) real-time hardware implementation, (2) operating system and communication protocol design, and (3) integration of Unity and CHAI3D for haptic VR rendering. Preliminary testing demonstrates the system's capability to replicate realistic force feedback, customization flexibility, and patient-specific anatomy.