“…In addition, a training simulator for femoral palpation and needle insertion was developed (Coles et al, 2011). Among the above-mentioned systems it is common to provide visual feedback, such as by displaying a color map (Schostek et al, 2006;Talasaz and Patel, 2013;Beccani et al, 2014;Escoto et al, 2015;Solodova et al, 2016;Li et al, 2017), a graphical bar (Gwilliam et al, 2009;Schorr et al, 2015), a sequential lamp (Tavakoli et al, 2006), or a color map overlaid on an endoscopic image (Yamamoto et al, 2012). As an additional approach for sensory feedback, a tactile display (Ottermo et al, 2004;Coles et al, 2011;Schorr et al, 2015;Pacchierotti et al, 2016), or force feedback through a master console (Tavakoli et al, 2006;Gwilliam et al, 2009;Schorr et al, 2015;Meli et al, 2016) have either been developed or implemented.…”