Table 2.

Signals and combinations for the main experiment regarding pedicle screw placement

Assistances
Visual (V)—scale			X		X		X
Tactile (T)—scale				X
Binary (B)—tactile (vibration) + peripheral		X	X	X
Wall (W)—kinesthetic (force) + peripheral						X	X
Haptic feedback (F)	X	X	X	X	X	X	X
Modes	F	FB	FVB	FTB	FV	FW	FVW

F haptic feedback, B binary (vibration + peripheral), V visual (scale), T tactile (scale), W wall (kinesthetic + peripheral)