Figure 1.

The diagram depicts the structure of the Deep Haptic Guidance (DHG). The CT data corresponding to a patient enters for modeling, rendering, and determining the stiffness of the bone. The data are captured while an expert is completing the task. The obtained data are converted to a compatible dataset for training deep recurrent neural network. The trained model provides haptic force feedback based on the professional demonstrations. The guidance signal is generated by the difference between the DHG's prediction and force feedback of novice user. In fact, expert's skill implies DHG's prediction.