A prototype haptic suturing simulator.

A new haptic simulation designed to teach basic suturing for simple wound closure is described. Needle holders are attached to the haptic device as the graphics of the needle holders, needle, sutures and virtual skin are displayed and updated in real time. The simulator incorporates several interesting components such as real-time modeling of deformable skin, tissue and suture material and real-time recording of state of activity during the task using a finite state model.