Augmented Haptic Guidance for Needle Insertion with a 2-DoF Wrist-Worn Haptic Device

We propose a wrist worn haptic device providing 2-degree-of-freedom shear feedback for haptic guidance during a needle insertion task in mixed reality. We created a training environment to map needle orientation information to the haptic cues acting on the wrist to lead the user towards a desired needle angle. With this system, users can learn to successfully orient a needle before puncturing the skin of a virtual or real tissue at a chosen location while holding a real needle.