Review of Haptic Rendering Techniques for Hip Surgery Training

In this review paper, we discuss haptic rendering techniques that can be used for hip surgery training. In the context of surgery, the simulation requires high quality of feedback forces and the interaction with the virtual environment must be synchronized in real time. Several studies were presented since the 90s to solve collision detection problem and force feedback computation. In this review paper, we classify haptic rendering techniques under two categories: methods of direct force-feedback computation, and proxy based methods. In the first category, the force is calculated and sent directly to the haptic device once the penetration measure is found. In contrast the proxy based techniques try to follow the haptic device using a proxy or “god-object” which is limited to the surface of rigid objects in the virtual environment, then compute the feedback force based on the behavior of this proxy. Under each category, we present the different techniques and discuss their benefits and disadvantages in the light of surgery training.