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Preoperative gestures include tactile sampling of the mechanical propertiesof biological tissue for both histological and pathological considerations.Tactile properties used in conjunction with visual cues can provide usefulfeedback to the surgeon. Development of novel cost effective haptic-basedsimulators and their introduction in the minimally invasive surgery learningcycle can absorb the learning curve for your residents. Receiving pre-trainingin a core set of surgical skills can reduce skill acquisition time and risks.We present the integration of a real-time surface stiffness adjustmentalgorithm and a novel paradigm -- force maps -- in a visuo-haptic simulatormodule designed to train internal organs disease diagnostics through palpation.

Liver Pathology Simulation: Algorithm for Haptic Rendering and Force Maps for Palpation Assessment