Key points are not available for this paper at this time.
There are many engineering challenges that must be addressed in order to successfully integrate haptics with the environmental characteristics found in surgery. The most fundamental of these challenges is to achieve update rates of solid nonlinear deformable objects that are acceptable to the human haptic system. The paper presents a software architecture that is designed to meet these challenges by analysing the task, the haptic, and the hardware constraints of surgery simulation.
Astley et al. (Thu,) studied this question.