Date of download: 10/20/2017 Copyright © ASME. All rights reserved. A Virtual Reality Haptic Robotic Simulator for Central Venous Catheterization Training1 J. Med. Devices. 2016;10(3):030937-030937-2. doi:10.1115/1.4033867 Figure Legend: Prototype haptic robotic CVC trainer with virtual ultrasound probe, haptic needle, and scanning surface
Date of download: 10/20/2017 Copyright © ASME. All rights reserved. A Virtual Reality Haptic Robotic Simulator for Central Venous Catheterization Training1 J. Med. Devices. 2016;10(3):030937-030937-2. doi:10.1115/1.4033867 Figure Legend: Ultrasound image of IJ and CA made by (a) virtual synthetic rendering and (b) actual ultrasound probe in human tissue [5]
Date of download: 10/20/2017 Copyright © ASME. All rights reserved. A Virtual Reality Haptic Robotic Simulator for Central Venous Catheterization Training1 J. Med. Devices. 2016;10(3):030937-030937-2. doi:10.1115/1.4033867 Figure Legend: Absolute error between actual probe angle and sensed angle