We have developed a virtual surgery system capable of performing surgical maneuvers on the elastic organs. In this system it is able to handle organs as elastic models and obtain a value for force feedback in real time. Furthermore, by connecting to the force feedback device we tried to manipulate the elastic organ model with a sense of touch. We tried to devise a system that would allow us to push, pinch, or incise these soft tissue models in virtual space, with a sense of touch.
