Figure 4.

Quantitative surgical rehearsal using the 3D printed prostate model. a) Surgical rehearsal involving applying an endoscope in the urethra of the 3D printed prostate model. b) Endoscopic view of the urethra inside of the 3D printed prostate model. c) Surgical suturing on the 3D printed prostate model. d) Schematic of the structure of the 3D printed soft tactile sensor (left) and photograph of the corresponding 3D printed sensor (right). e) Characterization of the response repeatability for the soft tactile sensor via capacitance changes with an applied cyclic pressure of 50 kPa. f) Calibration of the 3D printed sensor based on the correlation between capacitance change and the applied pressure. g,h) Quantitative surgical rehearsal involving the 3D printed prostate model upon applying a finger (g) and a surgical grasper (h), respectively, on the sensor integrated on the outer surface of the model and their corresponding pressure responses (indicated at each of the peaks) from the capacitance changes of the sensor. i,j) Quantitative surgical rehearsal involving the 3D printed prostate model when applying an endoscope (i) and surgical scissors (j) on the sensor integrated on the urethra surface inside of the model, and their corresponding pressure responses (indicated at each of the peaks) from the capacitance changes of the sensor.