Table 2.

Process of obtaining the good enough prototype.

Element	Initial prototype	Problem	Functional prototype	Output
MISa forceps	The shaft of the forceps is black	Difficulties in the detection of the forceps by the LMCb	The shaft of the forceps is white	Notable improvement in detection of the forceps by the LMC
Support devices	No support devices	Fulcrum effect not reproduced	Design of support devices	Reproduction of fulcrum effect
Mounting pad	No mounting pad	The hardware pieces (LMC and support devices) are independent, and there is no standard arrangement	Standardized integration of the pieces in the mounting pad	Physical stability of the model
Position of the LMC	Completely horizontal, 90 degree with regard to the screen	Difficulties in the detection of the forceps by the LMC	A forward 45-degree angle was applied with regard to the screen	Interference between the forceps when detected by the LMC was eliminated
First prototype of the 3D virtual environment (Figure 6)	Tests on the interaction between the forceps and the objects in the virtual environment	Difficulty for interaction between the forceps and the objects in the environment	Trial and error tests on interaction by modifying LMC and instrumental variables	Complete interaction achieved
Second prototype of the 3D virtual environment (Figure 7)	Functional environment in the 6 tasks	Quadrangular shapes in the environment	Circular shapes in the good enough environment (Figure 8)	An abstract 3D virtual environment with circular shapes
Good enough environment (Figure 8)	SQLc database engine not integrated into the simulation software	A software program should be installed in addition to the simulation program	Redesign of the model and data capture and storage	Feedback and metrics complete and integrated into the SQLite Integration of the SQL database engine into the simulation software

^aMIS: minimally invasive surgery.

^bLMC: Leap Motion Controller.

^cSQL: Structured Query Language.