Figure 5.

Schematic view of the surgical drill with a haptic interface using horizontal positional information. (A) Custom-made surgical table for the haptic drill in the horizontal direction. (B) The horizontal position was divided into 2 mm increments, and penetration detection was performed within each section. The drill stopped moving forwards 2 mm after penetration. (C) The surgeon horizontally operated the haptic drill installed diagonally to the spine. (D) Position waveform of the haptic drill using horizontal position information. The waveform colour changes from black to yellow over time.