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

Table 1

The Denavit-Hartenberg (DH) table based on joint parameters of the haptic devices.

Joint	(mm)	(mm)			Range
1	0	168.6	90°		[-96°, 96°]
2	180	0	0		[0°, 120°]
3	0	0	90°		[-55°, 56.5°]
4	0	168	90°		[90°, 270°]
5	7.45	0	0		[-80°, 80°]