Figure 1.

HaptiVisT training system and metamaterial from previous work. (A) Long, sharp and stainless steel Kirschner-wire (K-wire) for minimally invasive bone drilling. (B) HaptiVisT training system with real-time tracking camera (b1), force feedback device with drill handpiece (b2), touchscreen user interface (b3), autostereoscopic 3D monitor for drilling visualization (b4), haptic phantom hand with dodecahedron marker (b5) and reference marker (b6). (C,D) Wireframe of a unit cell and corresponding cuboid lattice structure for (C) cube edge (CE) and (D) cube face (CF) design.