413951.fig.001a
(a)
413951.fig.001b
(b)
413951.fig.001c
(c)
413951.fig.001d
(d)
413951.fig.001e
(e)
413951.fig.001f
(f)
Figure 1: Haptic simulator and virtual exercises. (a) Overview of the simulator. (b) Positioning of the haptic contra-angled handpiece. (c) Image of the virtual drilling procedure. (d) Virtual implant site preparation. (e) Blue angulation guide. (f) Grading of virtual drilling (green is reference and black is actual drilling).