1. 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): doi: /
Figure Legend:
Prototype haptic robotic CVC trainer with virtual ultrasound probe, haptic needle, and scanning surface

2. 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): doi: /
Figure Legend:
Ultrasound image of IJ and CA made by (a) virtual synthetic rendering and (b) actual ultrasound probe in human tissue [5]

3. 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): doi: /
Figure Legend:
Absolute error between actual probe angle and sensed angle