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    This study introduces a novel surgical robot simulator using 3D reconstruction and haptic feedback to enhance surgeon awareness and prevent collisions. The system improves surgical robot safety by providing real-time force feedback during tool-tissue interactions.

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    Area of Science:

    • Robotics
    • Surgical Simulation
    • Haptics

    Background:

    • Surgical robots offer precision but lack tactile feedback, increasing collision risks.
    • Current simulation methods struggle with real-time environmental mapping and occlusion.
    • Surgeon situation awareness is crucial for safe robotic surgery.

    Purpose of the Study:

    • To develop a hardware-in-the-loop surgical robot simulator with 3D reconstruction and haptic feedback.
    • To enhance surgeon's situation awareness and prevent unwanted tool-tissue collisions.
    • To improve the safety and efficacy of robotic surgical procedures.

    Main Methods:

    • Constructing a 3D point cloud of the surgical environment using RGB-D sensors to overcome occlusion.
    • Implementing a real-time haptic force rendering algorithm (1 kHz) for tool-tissue interactions.
    • Utilizing a RAVEN II robot, RGB-D sensors, and two Omni haptic devices for 3-DoF force feedback.

    Main Results:

    • A registration pipeline was developed for accurate point cloud mapping during preoperative planning.
    • A novel algorithm was proposed for efficient haptic rendering between a Haptic Interaction Point (HIP) and point clouds.
    • The system successfully provided real-time haptic feedback, enhancing collision avoidance capabilities.

    Conclusions:

    • The developed surgical robot simulator significantly improves safety through enhanced situation awareness and collision prevention.
    • The proposed haptic rendering methodology offers a feasible and fast approach for complex surgical environments.
    • This technology has the potential to revolutionize robotic surgery by increasing safety and performance.