This paper presents the prototype for an augmented reality haptic simulation system with potential for spinal needle insertion training. The proposed system is composed of a torso mannequin, a MicronTracker2 optical tracking system, a PHANToM haptic device, and a graphical user interface to provide visual feedback. The system allows users to perform simulated needle insertions on a physical mannequin overlaid with an augmented reality cutaway of patient anatomy. A tissue model based on a finite-element model provides force during the insertion. The system allows for training without the need for the presence of a trained clinician or access to live patients or cadavers. A pilot user study demonstrates the potential and functionality of the system.

We propose a haptic-based simulator for ultrasound-guided percutaneous spinal interventions. The system is composed of a haptic device to provide force feedback, a camera system to display video and augmented computed tomography (CT) overlay, a finite element model for tissue deformation and US simulation from a CT volume. The proposed system is able to run a large finite element model at the required haptic rate for smooth force feedback, and uses haptic device position measurements for a steady response. The simulated US images from CT closely resemble the vertebrae images captured in vivo. This is the first report of a system that provides a training environment to couple haptic feedback with a tracked mannequin, and a CT volume overlaid on a visual feed of the mannequin.