Fig. 2
From: A haptic laparoscopic trainer based on affine velocity analysis: engineering and preliminary results
Screenshot of the trajectory to perform in exercise 1 from the starting position (1) to the ending position (2). The trajectory had to be performed without touching the 3D structures. The five obstacle avoidance requested implicitly the following skills: grasping and releasing the green sphere to start, jumping over the central block in A (insertion, withdrawal), taking a curve in B, moving straight between the blocks in C, going round in D, and E, simulating loops necessary for knot tying