Abstract
We have proposed a force rendering method for palpation motion based on the haptic enhanced reality method. In this method, the force from a haptic device overlaps the reaction force from a base object. The key idea is to use a base object that has a material property similar to that of the target and to combine the virtual force produced by the haptic device with the reaction force from the base object. The purpose of this study is to develop a laparoscopic surgery training system for using the haptic enhanced reality method. In this paper, we describe the methods of contact detection and virtual force generation with a three-dimensional surgical phantom.
