Figure - PMC

Skip to main content

An official website of the United States government

Here's how you know

Here's how you know

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you've safely connected to the .gov website. Share sensitive information only on official, secure websites.

View full-text article in PMC

. 2009 Nov 14;24(5):1031–1039. doi: 10.1007/s00464-009-0721-y

Search in PMC
Search in PubMed
View in NLM Catalog
Add to search

© The Author(s) 2009

This article is distributed under the terms of the Creative Commons Attribution Noncommercial License which permits any noncommercial use, distribution, and reproduction in any medium, provided the original author(s) and source are credited.

PMC Copyright notice

Fig. 2 — The TrEndo tracking system for guiding and measuring real laparoscopic instruments in training setups. A A schematic drawing of the TrEndo tracking system. The TrEndo allows measurement and manipulation of the laparoscopic instrument in four degrees of freedom (DOFs): translation (first DOF) and rotation (second DOF) of the instrument around its axis, and left–right (third DOF) and forward–backward (fourth DOF) rotations of the instrument around the incision point. B A box trainer with a built-in TrEndo tracking system