虛擬實境的腹腔鏡手術模擬系統因其可以有系統地記錄訓練狀況、能不受時間限制的反覆練習、以及其可擴張性，有漸漸取代傳統使用手術訓練箱的趨勢。但缺少做為執行手術時，用以判斷關鍵資訊來源之一的觸覺一直都是其最大的缺點。
本篇論文的目的，即開發一個具有力回饋的腹腔鏡手術模擬系統，利用一個可以提供力回饋的裝置Omni，來提供力回饋。透過建構虛擬膽囊切除手術場景及擬真腹腔鏡手術的器械，並利用實驗驗證的力回饋曲線來讓Omni模擬真實力回饋來提升虛擬實境的真實感。希望用戶透過操作我們的系統，提升其腹腔鏡手術技巧，並提高虛擬實境的訓練效率。

Virtual reality (VR) minimally invasive surgery simulation has become popular because it allows trainee repetitive practice on various cases at any time, and provides objective measurement to evaluate the developed skills. But most of the VR-based simulators are lack of the haptic feedback which captures important information about the surgeon’s laparoscopic skills. The purpose of this study is to use Omni, a motorized device that applies force feedback, to develop a real-time surgery simulation in virtual environment. We produced the realistic cholecystectomy surgery scene and create models are similar to traditional laparoscopic instruments. By using our system, the user is allowed to manipulate the Omni to interact with the virtual objects in order to enhance the realism of the training.

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