抄録
In recent years, many endoscopic surgeries are performed because they are minimally-invasive. Since endoscopic surgery needs advanced operative technique, development of the training system using robotics or virtual reality technology is desired. In endoscopic surgery, the operation technique of forceps is important and its training system is developed. But, the insertion of trocar is not considered. In this study, we develope a haptic device for the trocar insertion training system. Then we conducted the basic force feedback experiments.
