Fig. 3.

Measured force and torque distribution during all boar vertebra palpation trials of the two surgeons. The blue histograms visualize the forces along the longitudinal axis of the pedicle probe handle and the twisting torques. The orange histograms visualize the forces in the plane perpendicular to the longitudinal axis of the pedicle probe handle and the bending torques. For both surgeons, we concatenated the recorded force and torque sequences from all of their trials and computed the histograms of the resulting sequences