  The proliferation of robot-assisted minimally invasive surgery highlights the
need for advanced training tools such as cost-effective robotic endotrainers.
Current surgical robots often lack haptic feedback, which is crucial for
providing surgeons with a real-time sense of touch. This absence can impact the
surgeon's ability to perform delicate operations effectively. To enhance
surgical training and address this deficiency, we have integrated a
cost-effective haptic feedback system into a robotic endotrainer. This system
incorporates both kinesthetic (force) and tactile feedback, improving the
fidelity of surgical simulations and enabling more precise control during
operations. Our system incorporates an innovative, cost-effective Force/Torque
sensor utilizing optoelectronic technology, specifically designed to accurately
detect forces and moments exerted on surgical tools with a 95% accuracy,
providing essential kinesthetic feedback. Additionally, we implemented a
tactile feedback mechanism that informs the surgeon of the gripping forces
between the tool's tip and the tissue. This dual feedback system enhances the
fidelity of training simulations and the execution of robotic surgeries,
promoting broader adoption and safer practices.
