Table 2.

Available simulation models: pros and cons [14,52].

Model	Pros	Cons
Bench-top	Large availability	Low anatomic fidelity
	Lower cost	Different haptic feedback
	Portable/Reusable	Need of true operative equipment
	No ethical issue	Only specific task simulation
Animal	Complete procedure simulation	High cost
	Comparable anatomy	Ethical considerations
	Same tissue properties	Limited reusability
		Animal laboratory required
Cadaver	Complete procedure simulation	High cost
	Same anatomy	Different tissue properties
		Nonreusable
		Low availability
		Specific laboratory setup required
Virtual Reality	Reusable	High initial cost
	Performance data capture and feedback	Maintenance
	Specific laboratory setup not required	Low haptic feedback
	High fidelity *	Low availability
		Low fidelity *

* Fidelity depends on the design.