Table 5.

Comparisons of the five peg transfer simulators.

	Advantages	Disadvantages	Immersive
			Haptic	Visual	Environments
Box	Realistic force feedback Realistic 3D perception Cost-effective Portable and easy to use	Low integration Lack of objective assessment Low immersion Without OR environment	III	I	I
VR	Objective assessment High interactivity Unlimited use	Low immersion Without OR environment Low 3D perception	I	I	I
CVR	Objective assessment High interactivity High immersion Motion track (HMD)	Virtual OR environment Narrow FOV Low 3D perception	I	II	II
AR	Objective assessment High interactivity High immersion Realistic 3D perception	Low immersion Without OR environment Environmental influence	I	I	I
MR	100% OR environment Objective assessment High interactivity High immersion	OR environment distortion Narrow FOV	I	III	III