Development and Validation of a Mixed Reality Configuration of a Simulator for a Minimally Invasive Spine Surgery Using the Workspace of a Haptic Device and Simulator Users

Figure 9

Illustrates the trajectories of users on the simulator overlaid by the haptic device’s workspace. (a) shows the trajectory of a surgeon using the simulator for the first time, and (b) shows the trajectory of a user with no medical background but familiarity with the simulator. Both of these trajectories were collected when the user was gaining access to the area of interest. (c) and (d) show the trajectories of two surgeons during the facetectomy which was completed through a cylindrical, surgical port. (e)–(g) are the trajectory of a surgeons overlaid on the workspace of the haptic device while considering different heights for the placement of the device, (e) same height as the bench model, (f) 10 mm above the bench model, and (g) 25 mm above the bench model, respectively.

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