Recently, the surgical robot has been applying in clinical situation. However, to achieve this, it is necessary for the surgeon to master and practice the handling of the instrument. This paper describes the development of the tele-training simulator enabling a surgeon to master and practice the techniques for robotic surgery, in particular, the robotic surgery system “da Vinci”. In this simulator, the soft tissue model used is a sphere-filled model that is suited for real-time and quantitative deformation. With respect to the haptic device, we used a commercial device known as the “PHANToM” that has gained widespread use. In addition to that, we have tried to construct a training center system enabling the user to simulate surgery from multiple remote access points. As a result, the user can perform a realistic manipulation similar to the da Vinci forceps' operation. In addition, it allows a user to perform surgical maneuvers such as grasping, pushing and ablation. Moreover, using the broadband line via the Internet, we can perform the tele-virtual training simulation.
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