Haptic Interaction Toolkit: a mixed reality-based robotic console for experimental investigation of haptic feedback in robotic-assisted surgery

Robotic-assisted surgery provides superior fine motor control of instruments but typically deprives surgeons of haptic cues. We present the Haptic Interaction Toolkit , a mixed-reality robotic console that integrates dual force-feedback devices, and a Unity-based software pipeline, along with details of its configuration and implementation. The toolkit is a reproducible technology platform that enables real/virtual registration, configurable visuo-haptic interactions, and replication via source code. Three exemplar experimental scenarios (discrimination of liver stiffness, protection of critical structures, and fatty tissue dissection next to sensitive structures) demonstrate how the system can be used to prototype and evaluate novel haptic interaction concepts for future robotic systems.