Kinematic Requirements of a Haptic Interface for Simulation of Endonasal Endoscopic Skull Base Surgery

Two haptic devices with spherical mechanisms, and an endoscope model are designed for simulation of endonasal endoscopic skull base surgery. Kinematic requirements of the haptic devices are analyzed based on target procedures to be simulated. Six target procedures are selected by expert surgeons based on importance and difficulty of the procedures. Truncated convex-cone-shaped workspace is derived from analysing the structure of the nasal cavity and periphery of the pituitary gland. Points on the surface of the workspace are selected, where force up to 24 N can be exerted to by the haptic devices. Required torques of three motors are computed by solving inverse kinematics, and they are 2691 N · mm, 1916 N · mm, 3041 N · mm, respectively.