Table 2.

Virtual reality/augmented reality simulators for open, endoscopic, and robotic urologic procedures (published from Jan, 2016 – June, 2020)

Surgical approach	Name of model	Manufacturer/Institution	Training procedures	Features	Cost (US $)	Debut	Relevant Publication Validity
Open	System for Telementoring with Augmented Reality	Purdue University, USA	Abdominal incision	Augmented reality head-mounted display with Hololens VR	NA	2016	Rojas et al. 2019 Face, Content, Construct, Concurrent
Endo	HoLEP Synthetic Prostate Model	University of Sao Paulo, Brazil	Holmium Laser Enucleation of the Prostate	Included training curriculum, utilized real HoLEP endoscopes	NA	2014	Antunes et al. 2019 Face, Content
	TURP Mentor™	3D Systems/Simbionix	TURBT, TURP	Validated assessment using simulator metrics to distinguish experts and novices	NA	2019	Bube et al. 2019 Face, Content, Construct
	3D-Printed Digital Prostate Phantom	Max Planck Institute, Germany	TURP	Biomimetic hydrogel material allows for realistic electrocautery scarring during simulated TURP	NA	2020	Choi et al. 2020 Face
	HoloLens URS Simulator	Guy’s Hospital, London, UK	Ureteroscopy, PCNL	Developed Using: Uro-Scopic Trainer (Limbs and Things, Bristol, UK), and the Endo-Uro Trainer (Samed, Dresden, Germany). Training occurred within a previously validated Full Immersion Simulation “Igloo” environment	NA	2018	Janabi et al. 2018 Face, Content, Construct
	Uro-Trainer	Karl Storz, Germany	Cystoscopy, TURBT	VR-based tutorial on resectoscope handling, along with bleeding control and tumor excision	NA	2018	Neumann et al. 2018 Face, Content
Robotic	dV-Trainer®	Mimic Technologies, USA	Basic skills, RAPN, RARP	Provide haptic feedback	$158,000	2007	Moglia et al. 2016 Face, Content, Construct, Concurrent, Predictive
	Xperience Team Trainer™	Mimic Technologies, USA	Assistant skills	-	NA	2014	Xu et al. 2016 Face, Content, Construct, Concurrent
	da Vinci Skills Simulator (dVSS)	Intuitive Surgical, Inc., USA	Basic skills; Full simulated procedures	Hangs on the back of da Vinci® Surgeon Console	$89,000	2011	Moglia et al. 2016 Face, Content, Construct, Concurrent, Predictive
	RobotiX Mentor (RM)	3D Systems/Simbionix, USA	Basic skills, RARP	-	$137,000	2016	Harrison et al. 2018 Face, Content, Construct
	Robotic Surgery Simulator (RoSS®)	Simulated Surgical Systems LLC, USA	Basic skills, UVA, RARP, RARC, LND	-	$120,000	2010	Hertz et al. 2018 Face, Content, Construct, Concurrent

CYS, cystoscopy; HoLEP, holmium laser enucleation of the prostate; LARN, laparoscopic-assisted radical nephrectomy; LND, lymph node dissection; NA, not available; RAPN, robotic-assisted partial nephrectomy; RARC, robotic-assisted radical cystectomy; RARP, robotic-assisted radical prostatectomy; SPT, suprapubic tube; TURBT, transurethral resection of bladder tumor; TURP, transurethral resection of prostate; UVA, urethrovesical anastomosis.