Figure 3
From: Mixed reality temporal bone surgical dissector: mechanical design
Converting haptic interaction point to drill tip from mid-wand. Haptic contact forces should be felt at drill tip rather than at the mid-point of the haptic wand. This necessitates the following changes to the forces created by the haptic device, where x is the cross product, t the distance between drill tip and haptic wand mid-point and l is handle length.