To provide appropriate guidance in minimally invasive surgical training (and potentially an additional safety measure in the operating room), we propose a model called a "No-Fly Zone" based on the situational awareness enhancing system. By defining the configuration space of the instrument, a collision free region is defined. If an intrusion occurs into the no-fly region space, the system provides audio, visual, and haptic feedback to reinforce an appropriate maneuver. The proposed method is

more »

... ended to refine surgical skills and to improve the patient safety. Usability experiment will be performed to test the system.