Teach and Playback Training Device for Minimally Invasive Surgery

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mis/volume-2018/4815761/figures/4815761.fig.001a.svgz" name="4815761.fig.001a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Prototype of the Teach and Playback (TPB) device</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mis/volume-2018/4815761/figures/4815761.fig.001b.svgz" name="4815761.fig.001b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Fritzing circuit diagram of the TPB device</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mis/volume-2018/4815761/figures/4815761.fig.001c.svgz" name="4815761.fig.001c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Schematic diagram of the TPB device</td></tr></table>

<div>The Teach and Playback device. (a) 6DoF Robot Arm. (b) Fritzing circuit diagram. (c) Fritzing block diagram.</div>

Minimally Invasive Surgery

Teach and Playback Training Device for Minimally Invasive Surgery

Figure 1