id	sid	tid	token	lemma	pos
globalce-260	1	1	j	j	PROPN
globalce-260	1	2	global	global	ADJ
globalce-260	1	3	clinical	clinical	ADJ
globalce-260	1	4	engineering	engineering	NOUN
globalce-260	1	5	vol.7	vol.7	PROPN
globalce-260	1	6	issue	issue	NOUN
globalce-260	1	7	3	3	NUM
globalce-260	1	8	:	:	SYM
globalce-260	1	9	2025	2025	NUM
globalce-260	1	10	88	88	NUM
globalce-260	1	11	received	receive	VERB
globalce-260	1	12	september	september	PROPN
globalce-260	1	13	18	18	NUM
globalce-260	1	14	,	,	PUNCT
globalce-260	1	15	2024	2024	NUM
globalce-260	1	16	,	,	PUNCT
globalce-260	1	17	accepted	accept	VERB
globalce-260	1	18	june	june	PROPN
globalce-260	1	19	23	23	NUM
globalce-260	1	20	,	,	PUNCT
globalce-260	1	21	2025	2025	NUM
globalce-260	1	22	,	,	PUNCT
globalce-260	1	23	date	date	NOUN
globalce-260	1	24	of	of	ADP
globalce-260	1	25	publication	publication	NOUN
globalce-260	1	26	september	september	PROPN
globalce-260	1	27	30	30	NUM
globalce-260	1	28	,	,	PUNCT
globalce-260	1	29	2025	2025	NUM
globalce-260	1	30	.	.	PUNCT
globalce-260	2	1	original	original	ADJ
globalce-260	2	2	research	research	NOUN
globalce-260	2	3	article	article	NOUN
globalce-260	2	4	training	training	NOUN
globalce-260	2	5	of	of	ADP
globalce-260	2	6	surgical	surgical	ADJ
globalce-260	2	7	skills	skill	NOUN
globalce-260	2	8	by	by	ADP
globalce-260	2	9	a	a	DET
globalce-260	2	10	3d	3d	NUM
globalce-260	2	11	augmented	augment	VERB
globalce-260	2	12	liver	liver	NOUN
globalce-260	2	13	model	model	NOUN
globalce-260	2	14	response	response	NOUN
globalce-260	2	15	during	during	ADP
globalce-260	2	16	instrument	instrument	NOUN
globalce-260	2	17	interactions	interaction	NOUN
globalce-260	2	18	simulation	simulation	NOUN
globalce-260	2	19	veronika	veronika	PROPN
globalce-260	2	20	ivanova1,†	ivanova1,†	PROPN
globalce-260	2	21	,	,	PUNCT
globalce-260	2	22	*	*	PUNCT
globalce-260	2	23	,	,	PUNCT
globalce-260	2	24	plamen	plaman	NOUN
globalce-260	2	25	vasilev	vasilev	VERB
globalce-260	2	26	vasilev2,†	vasilev2,†	NOUN
globalce-260	2	27	and	and	CCONJ
globalce-260	2	28	ani	ani	X
globalce-260	2	29	todorova	todorova	PRON
globalce-260	2	30	boneva	boneva	PROPN
globalce-260	2	31	3,†	3,†	NUM
globalce-260	2	32	1	1	NUM
globalce-260	2	33	department	department	NOUN
globalce-260	2	34	of	of	ADP
globalce-260	2	35	robotized	robotize	VERB
globalce-260	2	36	and	and	CCONJ
globalce-260	2	37	mechatronics	mechatronic	NOUN
globalce-260	2	38	intelligent	intelligent	ADJ
globalce-260	2	39	systems	system	NOUN
globalce-260	2	40	,	,	PUNCT
globalce-260	2	41	institute	institute	NOUN
globalce-260	2	42	of	of	ADP
globalce-260	2	43	robotics	robotic	NOUN
globalce-260	2	44	,	,	PUNCT
globalce-260	2	45	bulgarian	bulgarian	ADJ
globalce-260	2	46	academy	academy	PROPN
globalce-260	2	47	of	of	ADP
globalce-260	2	48	sciences	sciences	PROPN
globalce-260	2	49	,	,	PUNCT
globalce-260	2	50	sofia	sofia	PROPN
globalce-260	2	51	1113	1113	NUM
globalce-260	2	52	,	,	PUNCT
globalce-260	2	53	bulgaria	bulgaria	PROPN
globalce-260	2	54	.	.	PROPN
globalce-260	2	55	2	2	NUM
globalce-260	2	56	department	department	NOUN
globalce-260	2	57	of	of	ADP
globalce-260	2	58	industrial	industrial	ADJ
globalce-260	2	59	automation	automation	NOUN
globalce-260	2	60	,	,	PUNCT
globalce-260	2	61	university	university	NOUN
globalce-260	2	62	of	of	ADP
globalce-260	2	63	chemical	chemical	NOUN
globalce-260	2	64	technology	technology	NOUN
globalce-260	2	65	and	and	CCONJ
globalce-260	2	66	metallurgy	metallurgy	NOUN
globalce-260	2	67	,	,	PUNCT
globalce-260	2	68	sofia	sofia	PROPN
globalce-260	2	69	1756	1756	NUM
globalce-260	2	70	,	,	PUNCT
globalce-260	2	71	bulgaria	bulgaria	PROPN
globalce-260	2	72	.	.	PROPN
globalce-260	3	1	3	3	NUM
globalce-260	3	2	department	department	NOUN
globalce-260	3	3	of	of	ADP
globalce-260	3	4	communication	communication	NOUN
globalce-260	3	5	and	and	CCONJ
globalce-260	3	6	computer	computer	NOUN
globalce-260	3	7	systems	system	NOUN
globalce-260	3	8	,	,	PUNCT
globalce-260	3	9	institute	institute	NOUN
globalce-260	3	10	of	of	ADP
globalce-260	3	11	information	information	NOUN
globalce-260	3	12	and	and	CCONJ
globalce-260	3	13	communication	communication	NOUN
globalce-260	3	14	technologies	technology	NOUN
globalce-260	3	15	,	,	PUNCT
globalce-260	3	16	bulgarian	bulgarian	ADJ
globalce-260	3	17	academy	academy	PROPN
globalce-260	3	18	of	of	ADP
globalce-260	3	19	sciences	sciences	PROPN
globalce-260	3	20	,	,	PUNCT
globalce-260	3	21	sofia	sofia	PROPN
globalce-260	3	22	1113	1113	NUM
globalce-260	3	23	,	,	PUNCT
globalce-260	3	24	bulgaria	bulgaria	PROPN
globalce-260	3	25	.	.	PUNCT
globalce-260	3	26	†these	†these	PROPN
globalce-260	3	27	authors	author	NOUN
globalce-260	3	28	contributed	contribute	VERB
globalce-260	3	29	equally	equally	ADV
globalce-260	3	30	to	to	ADP
globalce-260	3	31	this	this	DET
globalce-260	3	32	work	work	NOUN
globalce-260	3	33	.	.	PUNCT
globalce-260	4	1	*	*	PUNCT
globalce-260	4	2	corresponding	correspond	VERB
globalce-260	4	3	author	author	NOUN
globalce-260	4	4	email	email	NOUN
globalce-260	4	5	:	:	PUNCT
globalce-260	4	6	iwanowa.w@abv.bg	iwanowa.w@abv.bg	ADJ
globalce-260	4	7	abstract	abstract	ADJ
globalce-260	4	8	background	background	NOUN
globalce-260	4	9	and	and	CCONJ
globalce-260	4	10	objective	objective	NOUN
globalce-260	4	11	:	:	PUNCT
globalce-260	4	12	in	in	ADP
globalce-260	4	13	recent	recent	ADJ
globalce-260	4	14	years	year	NOUN
globalce-260	4	15	,	,	PUNCT
globalce-260	4	16	interest	interest	NOUN
globalce-260	4	17	in	in	ADP
globalce-260	4	18	surgical	surgical	ADJ
globalce-260	4	19	robotics	robotic	NOUN
globalce-260	4	20	simulation	simulation	NOUN
globalce-260	4	21	has	have	AUX
globalce-260	4	22	grown	grow	VERB
globalce-260	4	23	significantly	significantly	ADV
globalce-260	4	24	,	,	PUNCT
globalce-260	4	25	particularly	particularly	ADV
globalce-260	4	26	among	among	ADP
globalce-260	4	27	trainee	trainee	PROPN
globalce-260	4	28	surgeons	surgeon	NOUN
globalce-260	4	29	.	.	PUNCT
globalce-260	5	1	this	this	DET
globalce-260	5	2	trend	trend	NOUN
globalce-260	5	3	is	be	AUX
globalce-260	5	4	driven	drive	VERB
globalce-260	5	5	by	by	ADP
globalce-260	5	6	the	the	DET
globalce-260	5	7	demand	demand	NOUN
globalce-260	5	8	for	for	ADP
globalce-260	5	9	cost	cost	NOUN
globalce-260	5	10	-	-	PUNCT
globalce-260	5	11	effective	effective	ADJ
globalce-260	5	12	training	training	NOUN
globalce-260	5	13	solutions	solution	NOUN
globalce-260	5	14	,	,	PUNCT
globalce-260	5	15	improved	improve	VERB
globalce-260	5	16	surgical	surgical	ADJ
globalce-260	5	17	outcomes	outcome	NOUN
globalce-260	5	18	,	,	PUNCT
globalce-260	5	19	and	and	CCONJ
globalce-260	5	20	reduced	reduce	VERB
globalce-260	5	21	training	training	NOUN
globalce-260	5	22	times	time	NOUN
globalce-260	5	23	.	.	PUNCT
globalce-260	6	1	simulations	simulation	NOUN
globalce-260	6	2	also	also	ADV
globalce-260	6	3	play	play	VERB
globalce-260	6	4	a	a	DET
globalce-260	6	5	vital	vital	ADJ
globalce-260	6	6	role	role	NOUN
globalce-260	6	7	in	in	ADP
globalce-260	6	8	the	the	DET
globalce-260	6	9	design	design	NOUN
globalce-260	6	10	and	and	CCONJ
globalce-260	6	11	testing	testing	NOUN
globalce-260	6	12	of	of	ADP
globalce-260	6	13	surgical	surgical	ADJ
globalce-260	6	14	instruments	instrument	NOUN
globalce-260	6	15	,	,	PUNCT
globalce-260	6	16	enabling	enable	VERB
globalce-260	6	17	analysis	analysis	NOUN
globalce-260	6	18	of	of	ADP
globalce-260	6	19	static	static	ADJ
globalce-260	6	20	and	and	CCONJ
globalce-260	6	21	dynamic	dynamic	ADJ
globalce-260	6	22	loads	load	NOUN
globalce-260	6	23	and	and	CCONJ
globalce-260	6	24	optimization	optimization	NOUN
globalce-260	6	25	of	of	ADP
globalce-260	6	26	tool	tool	NOUN
globalce-260	6	27	–	–	PUNCT
globalce-260	6	28	tissue	tissue	NOUN
globalce-260	6	29	interactions	interaction	NOUN
globalce-260	6	30	.	.	PUNCT
globalce-260	7	1	however	however	ADV
globalce-260	7	2	,	,	PUNCT
globalce-260	7	3	because	because	SCONJ
globalce-260	7	4	of	of	ADP
globalce-260	7	5	the	the	DET
globalce-260	7	6	complex	complex	ADJ
globalce-260	7	7	nature	nature	NOUN
globalce-260	7	8	of	of	ADP
globalce-260	7	9	soft	soft	ADJ
globalce-260	7	10	tissue	tissue	NOUN
globalce-260	7	11	deformation	deformation	NOUN
globalce-260	7	12	during	during	ADP
globalce-260	7	13	surgical	surgical	ADJ
globalce-260	7	14	procedures	procedure	NOUN
globalce-260	7	15	,	,	PUNCT
globalce-260	7	16	developing	develop	VERB
globalce-260	7	17	realistic	realistic	ADJ
globalce-260	7	18	and	and	CCONJ
globalce-260	7	19	effective	effective	ADJ
globalce-260	7	20	simulations	simulation	NOUN
globalce-260	7	21	remains	remain	VERB
globalce-260	7	22	a	a	DET
globalce-260	7	23	challenge	challenge	NOUN
globalce-260	7	24	.	.	PUNCT
globalce-260	8	1	this	this	DET
globalce-260	8	2	study	study	NOUN
globalce-260	8	3	focuses	focus	VERB
globalce-260	8	4	on	on	ADP
globalce-260	8	5	modeling	model	VERB
globalce-260	8	6	liver	liver	NOUN
globalce-260	8	7	responses	response	NOUN
globalce-260	8	8	during	during	ADP
globalce-260	8	9	tool	tool	NOUN
globalce-260	8	10	–	–	PUNCT
globalce-260	8	11	tissue	tissue	NOUN
globalce-260	8	12	interactions	interaction	NOUN
globalce-260	8	13	in	in	ADP
globalce-260	8	14	laparoscopic	laparoscopic	ADJ
globalce-260	8	15	surgery	surgery	NOUN
globalce-260	8	16	.	.	PUNCT
globalce-260	9	1	building	build	VERB
globalce-260	9	2	on	on	ADP
globalce-260	9	3	prior	prior	ADJ
globalce-260	9	4	research	research	NOUN
globalce-260	9	5	in	in	ADP
globalce-260	9	6	surgical	surgical	ADJ
globalce-260	9	7	robotics	robotic	NOUN
globalce-260	9	8	,	,	PUNCT
globalce-260	9	9	the	the	DET
globalce-260	9	10	goal	goal	NOUN
globalce-260	9	11	is	be	AUX
globalce-260	9	12	to	to	PART
globalce-260	9	13	develop	develop	VERB
globalce-260	9	14	a	a	DET
globalce-260	9	15	personalized	personalized	ADJ
globalce-260	9	16	training	training	NOUN
globalce-260	9	17	platform	platform	NOUN
globalce-260	9	18	that	that	PRON
globalce-260	9	19	enhances	enhance	VERB
globalce-260	9	20	the	the	DET
globalce-260	9	21	skills	skill	NOUN
globalce-260	9	22	of	of	ADP
globalce-260	9	23	surgical	surgical	ADJ
globalce-260	9	24	personnel	personnel	NOUN
globalce-260	9	25	without	without	ADP
globalce-260	9	26	the	the	DET
globalce-260	9	27	need	need	NOUN
globalce-260	9	28	for	for	ADP
globalce-260	9	29	live	live	ADJ
globalce-260	9	30	human	human	ADJ
globalce-260	9	31	or	or	CCONJ
globalce-260	9	32	animal	animal	NOUN
globalce-260	9	33	subjects	subject	NOUN
globalce-260	9	34	.	.	PUNCT
globalce-260	10	1	materials	material	NOUN
globalce-260	10	2	and	and	CCONJ
globalce-260	10	3	methods	method	NOUN
globalce-260	10	4	:	:	PUNCT
globalce-260	10	5	the	the	DET
globalce-260	10	6	study	study	NOUN
globalce-260	10	7	begins	begin	VERB
globalce-260	10	8	by	by	ADP
globalce-260	10	9	analyzing	analyze	VERB
globalce-260	10	10	the	the	DET
globalce-260	10	11	motion	motion	NOUN
globalce-260	10	12	of	of	ADP
globalce-260	10	13	a	a	DET
globalce-260	10	14	tactile	tactile	ADJ
globalce-260	10	15	surgical	surgical	ADJ
globalce-260	10	16	instrument	instrument	NOUN
globalce-260	10	17	interacting	interact	VERB
globalce-260	10	18	with	with	ADP
globalce-260	10	19	tissue	tissue	NOUN
globalce-260	10	20	.	.	PUNCT
globalce-260	11	1	direct	direct	ADJ
globalce-260	11	2	kinematics	kinematic	NOUN
globalce-260	11	3	is	be	AUX
globalce-260	11	4	used	use	VERB
globalce-260	11	5	to	to	PART
globalce-260	11	6	enable	enable	VERB
globalce-260	11	7	remote	remote	ADJ
globalce-260	11	8	control	control	NOUN
globalce-260	11	9	of	of	ADP
globalce-260	11	10	surgical	surgical	ADJ
globalce-260	11	11	robots	robot	NOUN
globalce-260	11	12	by	by	ADP
globalce-260	11	13	the	the	DET
globalce-260	11	14	lead	lead	ADJ
globalce-260	11	15	surgeon	surgeon	NOUN
globalce-260	11	16	.	.	PUNCT
globalce-260	12	1	to	to	PART
globalce-260	12	2	improve	improve	VERB
globalce-260	12	3	control	control	NOUN
globalce-260	12	4	accuracy	accuracy	NOUN
globalce-260	12	5	,	,	PUNCT
globalce-260	12	6	systematic	systematic	ADJ
globalce-260	12	7	positional	positional	ADJ
globalce-260	12	8	errors	error	NOUN
globalce-260	12	9	are	be	AUX
globalce-260	12	10	introduced	introduce	VERB
globalce-260	12	11	into	into	ADP
globalce-260	12	12	the	the	DET
globalce-260	12	13	control	control	NOUN
globalce-260	12	14	links	link	NOUN
globalce-260	12	15	.	.	PUNCT
globalce-260	13	1	a	a	DET
globalce-260	13	2	simulation	simulation	NOUN
globalce-260	13	3	program	program	NOUN
globalce-260	13	4	is	be	AUX
globalce-260	13	5	developed	develop	VERB
globalce-260	13	6	to	to	PART
globalce-260	13	7	define	define	VERB
globalce-260	13	8	the	the	DET
globalce-260	13	9	operational	operational	ADJ
globalce-260	13	10	workspace	workspace	NOUN
globalce-260	13	11	and	and	CCONJ
globalce-260	13	12	potential	potential	ADJ
globalce-260	13	13	tool	tool	NOUN
globalce-260	13	14	actions	action	NOUN
globalce-260	13	15	.	.	PUNCT
globalce-260	14	1	movement	movement	NOUN
globalce-260	14	2	within	within	ADP
globalce-260	14	3	this	this	DET
globalce-260	14	4	space	space	NOUN
globalce-260	14	5	is	be	AUX
globalce-260	14	6	controlled	control	VERB
globalce-260	14	7	by	by	ADP
globalce-260	14	8	four	four	NUM
globalce-260	14	9	motors	motor	NOUN
globalce-260	14	10	connected	connect	VERB
globalce-260	14	11	to	to	ADP
globalce-260	14	12	transmission	transmission	NOUN
globalce-260	14	13	mechanisms	mechanism	NOUN
globalce-260	14	14	.	.	PUNCT
globalce-260	15	1	analytical	analytical	ADJ
globalce-260	15	2	models	model	NOUN
globalce-260	15	3	of	of	ADP
globalce-260	15	4	these	these	DET
globalce-260	15	5	mechanisms	mechanism	NOUN
globalce-260	15	6	are	be	AUX
globalce-260	15	7	used	use	VERB
globalce-260	15	8	to	to	PART
globalce-260	15	9	optimize	optimize	VERB
globalce-260	15	10	performance	performance	NOUN
globalce-260	15	11	under	under	ADP
globalce-260	15	12	defined	define	VERB
globalce-260	15	13	constraints	constraint	NOUN
globalce-260	15	14	.	.	PUNCT
globalce-260	16	1	in	in	ADP
globalce-260	16	2	addition	addition	NOUN
globalce-260	16	3	,	,	PUNCT
globalce-260	16	4	a	a	DET
globalce-260	16	5	training	training	NOUN
globalce-260	16	6	simulation	simulation	NOUN
globalce-260	16	7	program	program	NOUN
globalce-260	16	8	(	(	PUNCT
globalce-260	16	9	tsp	tsp	NOUN
globalce-260	16	10	)	)	PUNCT
globalce-260	16	11	is	be	AUX
globalce-260	16	12	created	create	VERB
globalce-260	16	13	to	to	PART
globalce-260	16	14	model	model	VERB
globalce-260	16	15	liver	liver	NOUN
globalce-260	16	16	responses	response	NOUN
globalce-260	16	17	during	during	ADP
globalce-260	16	18	tool	tool	NOUN
globalce-260	16	19	–	–	PUNCT
globalce-260	16	20	tissue	tissue	NOUN
globalce-260	16	21	interactions	interaction	NOUN
globalce-260	16	22	.	.	PUNCT
globalce-260	17	1	this	this	DET
globalce-260	17	2	program	program	NOUN
globalce-260	17	3	visualizes	visualize	VERB
globalce-260	17	4	the	the	DET
globalce-260	17	5	3d	3d	NUM
globalce-260	17	6	behavior	behavior	NOUN
globalce-260	17	7	of	of	ADP
globalce-260	17	8	organs	organ	NOUN
globalce-260	17	9	using	use	VERB
globalce-260	17	10	physical	physical	ADJ
globalce-260	17	11	material	material	NOUN
globalce-260	17	12	properties	property	NOUN
globalce-260	17	13	and	and	CCONJ
globalce-260	17	14	simulates	simulate	NOUN
globalce-260	17	15	collisions	collision	NOUN
globalce-260	17	16	between	between	ADP
globalce-260	17	17	solids	solid	NOUN
globalce-260	17	18	.	.	PUNCT
globalce-260	18	1	the	the	DET
globalce-260	18	2	unity	unity	NOUN
globalce-260	18	3	game	game	NOUN
globalce-260	18	4	engine	engine	NOUN
globalce-260	18	5	is	be	AUX
globalce-260	18	6	used	use	VERB
globalce-260	18	7	to	to	PART
globalce-260	18	8	generate	generate	VERB
globalce-260	18	9	animations	animation	NOUN
globalce-260	18	10	compatible	compatible	ADJ
globalce-260	18	11	with	with	ADP
globalce-260	18	12	both	both	CCONJ
globalce-260	18	13	standard	standard	NOUN
globalce-260	18	14	and	and	CCONJ
globalce-260	18	15	vr	vr	PROPN
globalce-260	18	16	/	/	SYM
globalce-260	18	17	ar	ar	NOUN
globalce-260	18	18	environments	environment	NOUN
globalce-260	18	19	.	.	PUNCT
globalce-260	19	1	results	result	NOUN
globalce-260	19	2	:	:	PUNCT
globalce-260	19	3	experimental	experimental	ADJ
globalce-260	19	4	data	datum	NOUN
globalce-260	19	5	involving	involve	VERB
globalce-260	19	6	various	various	ADJ
globalce-260	19	7	laparoscopic	laparoscopic	NOUN
globalce-260	19	8	instrument	instrument	NOUN
globalce-260	19	9	tips	tip	NOUN
globalce-260	19	10	and	and	CCONJ
globalce-260	19	11	biological	biological	ADJ
globalce-260	19	12	tissues	tissue	NOUN
globalce-260	19	13	are	be	AUX
globalce-260	19	14	stored	store	VERB
globalce-260	19	15	in	in	ADP
globalce-260	19	16	a	a	DET
globalce-260	19	17	mysql	mysql	NOUN
globalce-260	19	18	database	database	NOUN
globalce-260	19	19	.	.	PUNCT
globalce-260	20	1	these	these	DET
globalce-260	20	2	data	datum	NOUN
globalce-260	20	3	can	can	AUX
globalce-260	20	4	be	be	AUX
globalce-260	20	5	accessed	access	VERB
globalce-260	20	6	via	via	ADP
globalce-260	20	7	local	local	ADJ
globalce-260	20	8	workstations	workstation	NOUN
globalce-260	20	9	,	,	PUNCT
globalce-260	20	10	institutional	institutional	ADJ
globalce-260	20	11	servers	server	NOUN
globalce-260	20	12	,	,	PUNCT
globalce-260	20	13	or	or	CCONJ
globalce-260	20	14	cloud	cloud	NOUN
globalce-260	20	15	-	-	PUNCT
globalce-260	20	16	based	base	VERB
globalce-260	20	17	platforms	platform	NOUN
globalce-260	20	18	.	.	PUNCT
globalce-260	21	1	users	user	NOUN
globalce-260	21	2	can	can	AUX
globalce-260	21	3	also	also	ADV
globalce-260	21	4	store	store	VERB
globalce-260	21	5	their	their	PRON
globalce-260	21	6	simulation	simulation	NOUN
globalce-260	21	7	data	datum	NOUN
globalce-260	21	8	on	on	ADP
globalce-260	21	9	mobile	mobile	ADJ
globalce-260	21	10	devices	device	NOUN
globalce-260	21	11	or	or	CCONJ
globalce-260	21	12	processor	processor	NOUN
globalce-260	21	13	cards	card	NOUN
globalce-260	21	14	.	.	PUNCT
globalce-260	22	1	conclusion	conclusion	NOUN
globalce-260	22	2	:	:	PUNCT
globalce-260	22	3	this	this	DET
globalce-260	22	4	study	study	NOUN
globalce-260	22	5	presents	present	VERB
globalce-260	22	6	a	a	DET
globalce-260	22	7	comprehensive	comprehensive	ADJ
globalce-260	22	8	approach	approach	NOUN
globalce-260	22	9	to	to	ADP
globalce-260	22	10	developing	develop	VERB
globalce-260	22	11	a	a	DET
globalce-260	22	12	surgical	surgical	ADJ
globalce-260	22	13	training	training	NOUN
globalce-260	22	14	system	system	NOUN
globalce-260	22	15	that	that	PRON
globalce-260	22	16	simulates	simulate	VERB
globalce-260	22	17	realistic	realistic	ADJ
globalce-260	22	18	tool	tool	NOUN
globalce-260	22	19	–	–	PUNCT
globalce-260	22	20	tissue	tissue	NOUN
globalce-260	22	21	interactions	interaction	NOUN
globalce-260	22	22	.	.	PUNCT
globalce-260	23	1	the	the	DET
globalce-260	23	2	findings	finding	NOUN
globalce-260	23	3	contribute	contribute	VERB
globalce-260	23	4	to	to	ADP
globalce-260	23	5	the	the	DET
globalce-260	23	6	advancement	advancement	NOUN
globalce-260	23	7	of	of	ADP
globalce-260	23	8	minimally	minimally	ADV
globalce-260	23	9	invasive	invasive	ADJ
globalce-260	23	10	surgical	surgical	ADJ
globalce-260	23	11	education	education	NOUN
globalce-260	23	12	by	by	ADP
globalce-260	23	13	enabling	enable	VERB
globalce-260	23	14	personalized	personalize	VERB
globalce-260	23	15	,	,	PUNCT
globalce-260	23	16	data	data	NOUN
globalce-260	23	17	-	-	PUNCT
globalce-260	23	18	driven	drive	VERB
globalce-260	23	19	training	training	NOUN
globalce-260	23	20	experiences	experience	NOUN
globalce-260	23	21	.	.	PUNCT
globalce-260	24	1	the	the	DET
globalce-260	24	2	proposed	propose	VERB
globalce-260	24	3	system	system	NOUN
globalce-260	24	4	offers	offer	VERB
globalce-260	24	5	a	a	DET
globalce-260	24	6	scalable	scalable	ADJ
globalce-260	24	7	and	and	CCONJ
globalce-260	24	8	ethical	ethical	ADJ
globalce-260	24	9	alternative	alternative	NOUN
globalce-260	24	10	to	to	ADP
globalce-260	24	11	traditional	traditional	ADJ
globalce-260	24	12	training	training	NOUN
globalce-260	24	13	methods	method	NOUN
globalce-260	24	14	,	,	PUNCT
globalce-260	24	15	with	with	ADP
globalce-260	24	16	potential	potential	ADJ
globalce-260	24	17	applications	application	NOUN
globalce-260	24	18	in	in	ADP
globalce-260	24	19	both	both	CCONJ
globalce-260	24	20	academic	academic	ADJ
globalce-260	24	21	and	and	CCONJ
globalce-260	24	22	clinical	clinical	ADJ
globalce-260	24	23	settings	setting	NOUN
globalce-260	24	24	.	.	PUNCT
globalce-260	25	1	the	the	DET
globalce-260	25	2	simulation	simulation	NOUN
globalce-260	25	3	programs	program	NOUN
globalce-260	25	4	effectively	effectively	ADV
globalce-260	25	5	transferred	transfer	VERB
globalce-260	25	6	acquired	acquire	VERB
globalce-260	25	7	skills	skill	NOUN
globalce-260	25	8	to	to	ADP
globalce-260	25	9	real	real	ADJ
globalce-260	25	10	-	-	PUNCT
globalce-260	25	11	world	world	NOUN
globalce-260	25	12	scenarios	scenario	NOUN
globalce-260	25	13	,	,	PUNCT
globalce-260	25	14	demonstrating	demonstrate	VERB
globalce-260	25	15	the	the	DET
globalce-260	25	16	system	system	NOUN
globalce-260	25	17	’s	’s	PART
globalce-260	25	18	potential	potential	NOUN
globalce-260	25	19	for	for	ADP
globalce-260	25	20	enhancing	enhance	VERB
globalce-260	25	21	surgical	surgical	ADJ
globalce-260	25	22	training	training	NOUN
globalce-260	25	23	.	.	PUNCT
globalce-260	26	1	mailto:iwanowa.w@abv.bg	mailto:iwanowa.w@abv.bg	ADV
globalce-260	27	1	mailto:mulugetamideksa@gmail.com	mailto:mulugetamideksa@gmail.com	PROPN
globalce-260	27	2	89	89	NUM
globalce-260	28	1	j	j	PROPN
globalce-260	28	2	global	global	ADJ
globalce-260	28	3	clinical	clinical	ADJ
globalce-260	28	4	engineering	engineering	NOUN
globalce-260	28	5	vol.7	vol.7	PROPN
globalce-260	28	6	issue	issue	NOUN
globalce-260	28	7	3	3	NUM
globalce-260	28	8	:	:	SYM
globalce-260	28	9	2025	2025	NUM
globalce-260	28	10	ivanova	ivanova	PROPN
globalce-260	28	11	,	,	PUNCT
globalce-260	28	12	vasilev	vasilev	NOUN
globalce-260	28	13	,	,	PUNCT
globalce-260	28	14	boneva	boneva	ADV
globalce-260	28	15	:	:	PUNCT
globalce-260	28	16	training	training	NOUN
globalce-260	28	17	of	of	ADP
globalce-260	28	18	surgical	surgical	ADJ
globalce-260	28	19	skills	skill	NOUN
globalce-260	28	20	by	by	ADP
globalce-260	28	21	a	a	DET
globalce-260	28	22	3d	3d	NUM
globalce-260	28	23	augmented	augment	VERB
globalce-260	28	24	liver	liver	NOUN
globalce-260	28	25	model	model	NOUN
globalce-260	28	26	response	response	NOUN
globalce-260	28	27	during	during	ADP
globalce-260	28	28	instrument	instrument	NOUN
globalce-260	28	29	interactions	interaction	NOUN
globalce-260	28	30	simulation	simulation	NOUN
globalce-260	28	31	keywords	keyword	NOUN
globalce-260	28	32	—	—	PUNCT
globalce-260	28	33	augmented	augment	VERB
globalce-260	28	34	reality	reality	NOUN
globalce-260	28	35	,	,	PUNCT
globalce-260	28	36	training	training	NOUN
globalce-260	28	37	program	program	NOUN
globalce-260	28	38	simulation	simulation	NOUN
globalce-260	28	39	(	(	PUNCT
globalce-260	28	40	tps	tps	NOUN
globalce-260	28	41	)	)	PUNCT
globalce-260	28	42	,	,	PUNCT
globalce-260	28	43	software	software	NOUN
globalce-260	28	44	applications	application	NOUN
globalce-260	28	45	,	,	PUNCT
globalce-260	28	46	surgical	surgical	ADJ
globalce-260	28	47	robotics	robotic	NOUN
globalce-260	28	48	,	,	PUNCT
globalce-260	28	49	surgical	surgical	ADJ
globalce-260	28	50	training	training	NOUN
globalce-260	28	51	.	.	PUNCT
globalce-260	29	1	copyright	copyright	NOUN
globalce-260	29	2	©	©	PROPN
globalce-260	29	3	2025	2025	NUM
globalce-260	29	4	.	.	PUNCT
globalce-260	30	1	this	this	PRON
globalce-260	30	2	is	be	AUX
globalce-260	30	3	an	an	DET
globalce-260	30	4	open	open	ADJ
globalce-260	30	5	-	-	PUNCT
globalce-260	30	6	access	access	NOUN
globalce-260	30	7	article	article	NOUN
globalce-260	30	8	distributed	distribute	VERB
globalce-260	30	9	under	under	ADP
globalce-260	30	10	the	the	DET
globalce-260	30	11	terms	term	NOUN
globalce-260	30	12	of	of	ADP
globalce-260	30	13	the	the	DET
globalce-260	30	14	creative	creative	ADJ
globalce-260	30	15	commons	common	NOUN
globalce-260	30	16	attribution	attribution	NOUN
globalce-260	30	17	license	license	NOUN
globalce-260	30	18	(	(	PUNCT
globalce-260	30	19	cc	cc	NOUN
globalce-260	30	20	by	by	ADV
globalce-260	30	21	):	):	PUNCT
globalce-260	30	22	creative	creative	ADJ
globalce-260	30	23	commons	common	NOUN
globalce-260	30	24	attribution	attribution	NOUN
globalce-260	30	25	4.0	4.0	NUM
globalce-260	30	26	international	international	NOUN
globalce-260	30	27	cc	cc	NOUN
globalce-260	30	28	by	by	ADP
globalce-260	30	29	4.0	4.0	NUM
globalce-260	30	30	.	.	PUNCT
globalce-260	31	1	the	the	DET
globalce-260	31	2	use	use	NOUN
globalce-260	31	3	,	,	PUNCT
globalce-260	31	4	distribution	distribution	NOUN
globalce-260	31	5	or	or	CCONJ
globalce-260	31	6	reproduction	reproduction	NOUN
globalce-260	31	7	in	in	ADP
globalce-260	31	8	other	other	ADJ
globalce-260	31	9	forums	forum	NOUN
globalce-260	31	10	is	be	AUX
globalce-260	31	11	permitted	permit	VERB
globalce-260	31	12	,	,	PUNCT
globalce-260	31	13	provided	provide	VERB
globalce-260	31	14	the	the	DET
globalce-260	31	15	original	original	ADJ
globalce-260	31	16	author(s	author(s	NOUN
globalce-260	31	17	)	)	PUNCT
globalce-260	31	18	and	and	CCONJ
globalce-260	31	19	the	the	DET
globalce-260	31	20	copyright	copyright	NOUN
globalce-260	31	21	owner(s	owner(s	NOUN
globalce-260	31	22	)	)	PUNCT
globalce-260	31	23	are	be	AUX
globalce-260	31	24	credited	credit	VERB
globalce-260	31	25	and	and	CCONJ
globalce-260	31	26	that	that	SCONJ
globalce-260	31	27	the	the	DET
globalce-260	31	28	original	original	ADJ
globalce-260	31	29	publication	publication	NOUN
globalce-260	31	30	in	in	ADP
globalce-260	31	31	this	this	DET
globalce-260	31	32	journal	journal	NOUN
globalce-260	31	33	is	be	AUX
globalce-260	31	34	cited	cite	VERB
globalce-260	31	35	,	,	PUNCT
globalce-260	31	36	in	in	ADP
globalce-260	31	37	accordance	accordance	NOUN
globalce-260	31	38	with	with	ADP
globalce-260	31	39	accepted	accept	VERB
globalce-260	31	40	academic	academic	ADJ
globalce-260	31	41	practice	practice	NOUN
globalce-260	31	42	.	.	PUNCT
globalce-260	32	1	no	no	DET
globalce-260	32	2	use	use	NOUN
globalce-260	32	3	,	,	PUNCT
globalce-260	32	4	distribution	distribution	NOUN
globalce-260	32	5	or	or	CCONJ
globalce-260	32	6	reproduction	reproduction	NOUN
globalce-260	32	7	is	be	AUX
globalce-260	32	8	permitted	permit	VERB
globalce-260	32	9	which	which	PRON
globalce-260	32	10	does	do	AUX
globalce-260	32	11	not	not	PART
globalce-260	32	12	comply	comply	VERB
globalce-260	32	13	with	with	ADP
globalce-260	32	14	these	these	DET
globalce-260	32	15	terms	term	NOUN
globalce-260	32	16	.	.	PUNCT
globalce-260	33	1	introduction	introduction	NOUN
globalce-260	33	2	software	software	NOUN
globalce-260	33	3	applications	application	NOUN
globalce-260	33	4	offer	offer	VERB
globalce-260	33	5	innovative	innovative	ADJ
globalce-260	33	6	solutions	solution	NOUN
globalce-260	33	7	in	in	ADP
globalce-260	33	8	medicine	medicine	NOUN
globalce-260	33	9	.	.	PUNCT
globalce-260	34	1	in	in	ADP
globalce-260	34	2	surgery	surgery	NOUN
globalce-260	34	3	,	,	PUNCT
globalce-260	34	4	this	this	DET
globalce-260	34	5	progress	progress	NOUN
globalce-260	34	6	allows	allow	VERB
globalce-260	34	7	the	the	DET
globalce-260	34	8	development	development	NOUN
globalce-260	34	9	of	of	ADP
globalce-260	34	10	surgical	surgical	ADJ
globalce-260	34	11	simulators	simulator	NOUN
globalce-260	34	12	that	that	PRON
globalce-260	34	13	reach	reach	VERB
globalce-260	34	14	the	the	DET
globalce-260	34	15	maximum	maximum	ADJ
globalce-260	34	16	level	level	NOUN
globalce-260	34	17	of	of	ADP
globalce-260	34	18	realism	realism	NOUN
globalce-260	34	19	and	and	CCONJ
globalce-260	34	20	emulate	emulate	VERB
globalce-260	34	21	complex	complex	ADJ
globalce-260	34	22	procedures	procedure	NOUN
globalce-260	34	23	,	,	PUNCT
globalce-260	34	24	taking	take	VERB
globalce-260	34	25	into	into	ADP
globalce-260	34	26	account	account	NOUN
globalce-260	34	27	the	the	DET
globalce-260	34	28	specificity	specificity	NOUN
globalce-260	34	29	and	and	CCONJ
globalce-260	34	30	anatomical	anatomical	ADJ
globalce-260	34	31	requirements	requirement	NOUN
globalce-260	34	32	of	of	ADP
globalce-260	34	33	individual	individual	ADJ
globalce-260	34	34	patients	patient	NOUN
globalce-260	34	35	.	.	PUNCT
globalce-260	35	1	also	also	ADV
globalce-260	35	2	,	,	PUNCT
globalce-260	35	3	the	the	DET
globalce-260	35	4	simulation	simulation	NOUN
globalce-260	35	5	is	be	AUX
globalce-260	35	6	a	a	DET
globalce-260	35	7	suitable	suitable	ADJ
globalce-260	35	8	method	method	NOUN
globalce-260	35	9	for	for	ADP
globalce-260	35	10	training	train	VERB
globalce-260	35	11	surgeons	surgeon	NOUN
globalce-260	35	12	in	in	ADP
globalce-260	35	13	complex	complex	ADJ
globalce-260	35	14	movements	movement	NOUN
globalce-260	35	15	and	and	CCONJ
globalce-260	35	16	operations	operation	NOUN
globalce-260	35	17	because	because	SCONJ
globalce-260	35	18	it	it	PRON
globalce-260	35	19	reduces	reduce	VERB
globalce-260	35	20	the	the	DET
globalce-260	35	21	duration	duration	NOUN
globalce-260	35	22	of	of	ADP
globalce-260	35	23	the	the	DET
globalce-260	35	24	surgeon	surgeon	NOUN
globalce-260	35	25	’s	’s	PART
globalce-260	35	26	training	training	NOUN
globalce-260	35	27	in	in	ADP
globalce-260	35	28	minimally	minimally	ADV
globalce-260	35	29	invasive	invasive	ADJ
globalce-260	35	30	surgery	surgery	NOUN
globalce-260	35	31	(	(	PUNCT
globalce-260	35	32	mis	mis	PROPN
globalce-260	35	33	)	)	PUNCT
globalce-260	35	34	.	.	PUNCT
globalce-260	36	1	the	the	DET
globalce-260	36	2	methodology	methodology	NOUN
globalce-260	36	3	for	for	ADP
globalce-260	36	4	developing	develop	VERB
globalce-260	36	5	a	a	DET
globalce-260	36	6	web	web	NOUN
globalce-260	36	7	-	-	PUNCT
globalce-260	36	8	based	base	VERB
globalce-260	36	9	laparoscopy	laparoscopy	NOUN
globalce-260	36	10	e	e	NOUN
globalce-260	36	11	-	-	NOUN
globalce-260	36	12	training	training	NOUN
globalce-260	36	13	system	system	NOUN
globalce-260	36	14	is	be	AUX
globalce-260	36	15	particularly	particularly	ADV
globalce-260	36	16	important.1	important.1	PROPN
globalce-260	36	17	software	software	NOUN
globalce-260	36	18	applications	application	NOUN
globalce-260	36	19	can	can	AUX
globalce-260	36	20	provide	provide	VERB
globalce-260	36	21	a	a	DET
globalce-260	36	22	surgical	surgical	ADJ
globalce-260	36	23	environment	environment	NOUN
globalce-260	36	24	with	with	ADP
globalce-260	36	25	its	its	PRON
globalce-260	36	26	physical	physical	ADJ
globalce-260	36	27	properties	property	NOUN
globalce-260	36	28	,	,	PUNCT
globalce-260	36	29	texture	texture	NOUN
globalce-260	36	30	,	,	PUNCT
globalce-260	36	31	and	and	CCONJ
globalce-260	36	32	complexity	complexity	NOUN
globalce-260	36	33	.	.	PUNCT
globalce-260	37	1	computer	computer	NOUN
globalce-260	37	2	-	-	PUNCT
globalce-260	37	3	based	base	VERB
globalce-260	37	4	methods	method	NOUN
globalce-260	37	5	can	can	AUX
globalce-260	37	6	be	be	AUX
globalce-260	37	7	the	the	DET
globalce-260	37	8	main	main	ADJ
globalce-260	37	9	part	part	NOUN
globalce-260	37	10	of	of	ADP
globalce-260	37	11	surgical	surgical	ADJ
globalce-260	37	12	tool	tool	NOUN
globalce-260	37	13	design	design	NOUN
globalce-260	37	14	.	.	PUNCT
globalce-260	38	1	to	to	PART
globalce-260	38	2	solve	solve	VERB
globalce-260	38	3	new	new	ADJ
globalce-260	38	4	problems	problem	NOUN
globalce-260	38	5	that	that	PRON
globalce-260	38	6	continue	continue	VERB
globalce-260	38	7	to	to	PART
globalce-260	38	8	arise	arise	VERB
globalce-260	38	9	in	in	ADP
globalce-260	38	10	real	real	ADJ
globalce-260	38	11	surgical	surgical	ADJ
globalce-260	38	12	procedures	procedure	NOUN
globalce-260	38	13	,	,	PUNCT
globalce-260	38	14	new	new	ADJ
globalce-260	38	15	tools	tool	NOUN
globalce-260	38	16	are	be	AUX
globalce-260	38	17	created	create	VERB
globalce-260	38	18	every	every	DET
globalce-260	38	19	day	day	NOUN
globalce-260	38	20	.	.	PUNCT
globalce-260	39	1	an	an	DET
globalce-260	39	2	important	important	ADJ
globalce-260	39	3	step	step	NOUN
globalce-260	39	4	in	in	ADP
globalce-260	39	5	the	the	DET
globalce-260	39	6	creation	creation	NOUN
globalce-260	39	7	of	of	ADP
globalce-260	39	8	surgical	surgical	ADJ
globalce-260	39	9	instruments	instrument	NOUN
globalce-260	39	10	is	be	AUX
globalce-260	39	11	the	the	DET
globalce-260	39	12	development	development	NOUN
globalce-260	39	13	and	and	CCONJ
globalce-260	39	14	application	application	NOUN
globalce-260	39	15	of	of	ADP
globalce-260	39	16	a	a	DET
globalce-260	39	17	virtual	virtual	ADJ
globalce-260	39	18	environment	environment	NOUN
globalce-260	39	19	and	and	CCONJ
globalce-260	39	20	near	near	ADJ
globalce-260	39	21	-	-	PUNCT
globalce-260	39	22	real	real	ADJ
globalce-260	39	23	models	model	NOUN
globalce-260	39	24	to	to	PART
globalce-260	39	25	simulate	simulate	VERB
globalce-260	39	26	the	the	DET
globalce-260	39	27	response	response	NOUN
globalce-260	39	28	of	of	ADP
globalce-260	39	29	the	the	DET
globalce-260	39	30	organ	organ	NOUN
globalce-260	39	31	when	when	SCONJ
globalce-260	39	32	interacting	interact	VERB
globalce-260	39	33	with	with	ADP
globalce-260	39	34	an	an	DET
globalce-260	39	35	instrument	instrument	NOUN
globalce-260	39	36	.	.	PUNCT
globalce-260	40	1	simulation	simulation	NOUN
globalce-260	40	2	methods	method	NOUN
globalce-260	40	3	can	can	AUX
globalce-260	40	4	provide	provide	VERB
globalce-260	40	5	different	different	ADJ
globalce-260	40	6	scenarios	scenario	NOUN
globalce-260	40	7	for	for	SCONJ
globalce-260	40	8	the	the	DET
globalce-260	40	9	operation	operation	NOUN
globalce-260	40	10	to	to	PART
globalce-260	40	11	take	take	VERB
globalce-260	40	12	into	into	ADP
globalce-260	40	13	account	account	NOUN
globalce-260	40	14	different	different	ADJ
globalce-260	40	15	anatomies	anatomy	NOUN
globalce-260	40	16	,	,	PUNCT
globalce-260	40	17	pathologies	pathology	NOUN
globalce-260	40	18	,	,	PUNCT
globalce-260	40	19	and	and	CCONJ
globalce-260	40	20	working	working	NOUN
globalce-260	40	21	areas	area	NOUN
globalce-260	40	22	.	.	PUNCT
globalce-260	41	1	training	training	NOUN
globalce-260	41	2	modes	mode	NOUN
globalce-260	41	3	include	include	VERB
globalce-260	41	4	tabletop	tabletop	ADJ
globalce-260	41	5	models	model	NOUN
globalce-260	41	6	,	,	PUNCT
globalce-260	41	7	virtual	virtual	ADJ
globalce-260	41	8	reality	reality	NOUN
globalce-260	41	9	(	(	PUNCT
globalce-260	41	10	vr	vr	NOUN
globalce-260	41	11	)	)	PUNCT
globalce-260	41	12	,	,	PUNCT
globalce-260	41	13	augmented	augment	VERB
globalce-260	41	14	reality	reality	NOUN
globalce-260	41	15	(	(	PUNCT
globalce-260	41	16	ar	ar	NOUN
globalce-260	41	17	)	)	PUNCT
globalce-260	41	18	,	,	PUNCT
globalce-260	41	19	animals	animal	NOUN
globalce-260	41	20	,	,	PUNCT
globalce-260	41	21	and	and	CCONJ
globalce-260	41	22	cadavers	cadaver	NOUN
globalce-260	41	23	.	.	PUNCT
globalce-260	42	1	there	there	PRON
globalce-260	42	2	are	be	VERB
globalce-260	42	3	claims	claim	NOUN
globalce-260	42	4	that	that	SCONJ
globalce-260	42	5	the	the	DET
globalce-260	42	6	haptic	haptic	ADJ
globalce-260	42	7	interface	interface	NOUN
globalce-260	42	8	,	,	PUNCT
globalce-260	42	9	along	along	ADP
globalce-260	42	10	with	with	ADP
globalce-260	42	11	the	the	DET
globalce-260	42	12	visual	visual	ADJ
globalce-260	42	13	simulation	simulation	NOUN
globalce-260	42	14	,	,	PUNCT
globalce-260	42	15	aids	aid	VERB
globalce-260	42	16	the	the	DET
globalce-260	42	17	student	student	NOUN
globalce-260	42	18	or	or	CCONJ
globalce-260	42	19	young	young	ADJ
globalce-260	42	20	surgeon	surgeon	NOUN
globalce-260	42	21	to	to	PART
globalce-260	42	22	get	get	VERB
globalce-260	42	23	a	a	DET
globalce-260	42	24	virtual	virtual	ADJ
globalce-260	42	25	experience	experience	NOUN
globalce-260	42	26	of	of	ADP
globalce-260	42	27	the	the	DET
globalce-260	42	28	surgical	surgical	ADJ
globalce-260	42	29	procedure	procedure	NOUN
globalce-260	42	30	as	as	ADP
globalce-260	42	31	in	in	ADP
globalce-260	42	32	a	a	DET
globalce-260	42	33	real	real	ADJ
globalce-260	42	34	patient	patient	ADJ
globalce-260	42	35	operation	operation	NOUN
globalce-260	42	36	.	.	PUNCT
globalce-260	43	1	however	however	ADV
globalce-260	43	2	,	,	PUNCT
globalce-260	43	3	a	a	DET
globalce-260	43	4	number	number	NOUN
globalce-260	43	5	of	of	ADP
globalce-260	43	6	studies	study	NOUN
globalce-260	43	7	prove	prove	VERB
globalce-260	43	8	that	that	SCONJ
globalce-260	43	9	a	a	DET
globalce-260	43	10	combination	combination	NOUN
globalce-260	43	11	of	of	ADP
globalce-260	43	12	models	model	NOUN
globalce-260	43	13	is	be	AUX
globalce-260	43	14	more	more	ADV
globalce-260	43	15	effective	effective	ADJ
globalce-260	43	16	than	than	ADP
globalce-260	43	17	model	model	NOUN
globalce-260	43	18	-	-	PUNCT
globalce-260	43	19	based	base	VERB
globalce-260	43	20	learning	learning	NOUN
globalce-260	43	21	alone	alone	ADV
globalce-260	43	22	.	.	PUNCT
globalce-260	44	1	the	the	DET
globalce-260	44	2	main	main	ADJ
globalce-260	44	3	ways	way	NOUN
globalce-260	44	4	to	to	PART
globalce-260	44	5	accomplish	accomplish	VERB
globalce-260	44	6	the	the	DET
globalce-260	44	7	simulation	simulation	NOUN
globalce-260	44	8	task	task	NOUN
globalce-260	44	9	are	be	AUX
globalce-260	44	10	:	:	PUNCT
globalce-260	44	11	a	a	DET
globalce-260	44	12	model	model	NOUN
globalce-260	44	13	,	,	PUNCT
globalce-260	44	14	a	a	DET
globalce-260	44	15	detailed	detailed	ADJ
globalce-260	44	16	description	description	NOUN
globalce-260	44	17	of	of	ADP
globalce-260	44	18	the	the	DET
globalce-260	44	19	real	real	ADJ
globalce-260	44	20	-	-	PUNCT
globalce-260	44	21	world	world	NOUN
globalce-260	44	22	application	application	NOUN
globalce-260	44	23	of	of	ADP
globalce-260	44	24	the	the	DET
globalce-260	44	25	model	model	NOUN
globalce-260	44	26	,	,	PUNCT
globalce-260	44	27	and	and	CCONJ
globalce-260	44	28	the	the	DET
globalce-260	44	29	applied	apply	VERB
globalce-260	44	30	forces	force	NOUN
globalce-260	44	31	/	/	SYM
globalce-260	44	32	moments	moment	NOUN
globalce-260	44	33	.	.	PUNCT
globalce-260	45	1	different	different	ADJ
globalce-260	45	2	medical	medical	ADJ
globalce-260	45	3	procedures	procedure	NOUN
globalce-260	45	4	require	require	VERB
globalce-260	45	5	different	different	ADJ
globalce-260	45	6	organ	organ	NOUN
globalce-260	45	7	models	model	NOUN
globalce-260	45	8	.	.	PUNCT
globalce-260	46	1	the	the	DET
globalce-260	46	2	basic	basic	ADJ
globalce-260	46	3	approaches	approach	NOUN
globalce-260	46	4	for	for	ADP
globalce-260	46	5	model	model	NOUN
globalce-260	46	6	response	response	NOUN
globalce-260	46	7	during	during	ADP
globalce-260	46	8	instrument	instrument	NOUN
globalce-260	46	9	interactions	interaction	NOUN
globalce-260	46	10	are	be	AUX
globalce-260	46	11	mass	mass	ADJ
globalce-260	46	12	-	-	PUNCT
globalce-260	46	13	spring	spring	NOUN
globalce-260	46	14	system	system	NOUN
globalce-260	46	15	(	(	PUNCT
globalce-260	46	16	mss)2	mss)2	PROPN
globalce-260	46	17	and	and	CCONJ
globalce-260	46	18	finite	finite	ADJ
globalce-260	46	19	-	-	ADJ
globalce-260	46	20	element	element	ADJ
globalce-260	46	21	method	method	NOUN
globalce-260	46	22	(	(	PUNCT
globalce-260	46	23	fem).3	fem).3	PROPN
globalce-260	46	24	in	in	ADP
globalce-260	46	25	the	the	DET
globalce-260	46	26	first	first	ADJ
globalce-260	46	27	approach	approach	NOUN
globalce-260	46	28	,	,	PUNCT
globalce-260	46	29	the	the	DET
globalce-260	46	30	geometric	geometric	ADJ
globalce-260	46	31	model	model	NOUN
globalce-260	46	32	of	of	ADP
globalce-260	46	33	an	an	DET
globalce-260	46	34	organ	organ	NOUN
globalce-260	46	35	is	be	AUX
globalce-260	46	36	represented	represent	VERB
globalce-260	46	37	as	as	ADP
globalce-260	46	38	particles	particle	NOUN
globalce-260	46	39	with	with	ADP
globalce-260	46	40	their	their	PRON
globalce-260	46	41	own	own	ADJ
globalce-260	46	42	positions	position	NOUN
globalce-260	46	43	,	,	PUNCT
globalce-260	46	44	velocities	velocity	NOUN
globalce-260	46	45	,	,	PUNCT
globalce-260	46	46	and	and	CCONJ
globalce-260	46	47	accelerations	acceleration	NOUN
globalce-260	46	48	,	,	PUNCT
globalce-260	46	49	which	which	PRON
globalce-260	46	50	are	be	AUX
globalce-260	46	51	connected	connect	VERB
globalce-260	46	52	by	by	ADP
globalce-260	46	53	springs	spring	NOUN
globalce-260	46	54	and	and	CCONJ
globalce-260	46	55	dampers	damper	NOUN
globalce-260	46	56	.	.	PUNCT
globalce-260	47	1	the	the	DET
globalce-260	47	2	particles	particle	NOUN
globalce-260	47	3	move	move	VERB
globalce-260	47	4	under	under	ADP
globalce-260	47	5	the	the	DET
globalce-260	47	6	influence	influence	NOUN
globalce-260	47	7	of	of	ADP
globalce-260	47	8	the	the	DET
globalce-260	47	9	forces	force	NOUN
globalce-260	47	10	of	of	ADP
globalce-260	47	11	the	the	DET
globalce-260	47	12	surgical	surgical	ADJ
globalce-260	47	13	instruments	instrument	NOUN
globalce-260	47	14	.	.	PUNCT
globalce-260	48	1	in	in	ADP
globalce-260	48	2	fem	fem	PROPN
globalce-260	48	3	,	,	PUNCT
globalce-260	48	4	each	each	DET
globalce-260	48	5	element	element	NOUN
globalce-260	48	6	of	of	ADP
globalce-260	48	7	an	an	DET
globalce-260	48	8	organ	organ	NOUN
globalce-260	48	9	model	model	NOUN
globalce-260	48	10	is	be	AUX
globalce-260	48	11	calculated	calculate	VERB
globalce-260	48	12	to	to	PART
globalce-260	48	13	obtain	obtain	VERB
globalce-260	48	14	the	the	DET
globalce-260	48	15	deformation	deformation	NOUN
globalce-260	48	16	of	of	ADP
globalce-260	48	17	the	the	DET
globalce-260	48	18	model	model	NOUN
globalce-260	48	19	under	under	ADP
globalce-260	48	20	the	the	DET
globalce-260	48	21	applied	apply	VERB
globalce-260	48	22	forces	force	NOUN
globalce-260	48	23	.	.	PUNCT
globalce-260	49	1	real	real	ADJ
globalce-260	49	2	-	-	PUNCT
globalce-260	49	3	time	time	NOUN
globalce-260	49	4	surgical	surgical	ADJ
globalce-260	49	5	simulation	simulation	NOUN
globalce-260	49	6	requires	require	VERB
globalce-260	49	7	computing	compute	VERB
globalce-260	49	8	the	the	DET
globalce-260	49	9	deformation	deformation	NOUN
globalce-260	49	10	of	of	ADP
globalce-260	49	11	viscoelastic	viscoelastic	ADJ
globalce-260	49	12	human	human	ADJ
globalce-260	49	13	tissue	tissue	NOUN
globalce-260	49	14	and	and	CCONJ
globalce-260	49	15	generating	generate	VERB
globalce-260	49	16	both	both	CCONJ
globalce-260	49	17	graphic	graphic	ADJ
globalce-260	49	18	and	and	CCONJ
globalce-260	49	19	haptic	haptic	ADJ
globalce-260	49	20	feedback	feedback	NOUN
globalce-260	49	21	.	.	PUNCT
globalce-260	50	1	deformation	deformation	NOUN
globalce-260	50	2	simulation	simulation	NOUN
globalce-260	50	3	is	be	AUX
globalce-260	50	4	based	base	VERB
globalce-260	50	5	on	on	ADP
globalce-260	50	6	a	a	DET
globalce-260	50	7	sequential	sequential	ADJ
globalce-260	50	8	calculation	calculation	NOUN
globalce-260	50	9	of	of	ADP
globalce-260	50	10	the	the	DET
globalce-260	50	11	tissues	tissue	NOUN
globalce-260	50	12	’	'	PUNCT
globalce-260	50	13	shape	shape	NOUN
globalce-260	50	14	.	.	PUNCT
globalce-260	51	1	the	the	DET
globalce-260	51	2	reaction	reaction	NOUN
globalce-260	51	3	forces	force	NOUN
globalce-260	51	4	result	result	VERB
globalce-260	51	5	from	from	ADP
globalce-260	51	6	the	the	DET
globalce-260	51	7	tool	tool	NOUN
globalce-260	51	8	–	–	PUNCT
globalce-260	51	9	tissue	tissue	NOUN
globalce-260	51	10	model	model	NOUN
globalce-260	51	11	interactions	interaction	NOUN
globalce-260	51	12	,	,	PUNCT
globalce-260	51	13	where	where	SCONJ
globalce-260	51	14	the	the	DET
globalce-260	51	15	virtual	virtual	ADJ
globalce-260	51	16	tools	tool	NOUN
globalce-260	51	17	are	be	AUX
globalce-260	51	18	controlled	control	VERB
globalce-260	51	19	by	by	ADP
globalce-260	51	20	the	the	DET
globalce-260	51	21	smart	smart	ADJ
globalce-260	51	22	tools	tool	NOUN
globalce-260	51	23	.	.	PUNCT
globalce-260	52	1	tissue	tissue	NOUN
globalce-260	52	2	models	model	NOUN
globalce-260	52	3	must	must	AUX
globalce-260	52	4	look	look	VERB
globalce-260	52	5	and	and	CCONJ
globalce-260	52	6	behave	behave	VERB
globalce-260	52	7	realistically	realistically	ADV
globalce-260	52	8	and	and	CCONJ
globalce-260	52	9	be	be	AUX
globalce-260	52	10	based	base	VERB
globalce-260	52	11	on	on	ADP
globalce-260	52	12	the	the	DET
globalce-260	52	13	physical	physical	ADJ
globalce-260	52	14	laws	law	NOUN
globalce-260	52	15	related	relate	VERB
globalce-260	52	16	to	to	ADP
globalce-260	52	17	human	human	ADJ
globalce-260	52	18	organ	organ	NOUN
globalce-260	52	19	behavior	behavior	NOUN
globalce-260	52	20	.	.	PUNCT
globalce-260	53	1	models	model	NOUN
globalce-260	53	2	used	use	VERB
globalce-260	53	3	for	for	ADP
globalce-260	53	4	simulation	simulation	NOUN
globalce-260	53	5	are	be	AUX
globalce-260	53	6	mainly	mainly	ADV
globalce-260	53	7	based	base	VERB
globalce-260	53	8	on	on	ADP
globalce-260	53	9	geometry	geometry	NOUN
globalce-260	53	10	or	or	CCONJ
globalce-260	53	11	mechanics	mechanic	NOUN
globalce-260	53	12	.	.	PUNCT
globalce-260	54	1	geometric	geometric	ADJ
globalce-260	54	2	models	model	NOUN
globalce-260	54	3	are	be	AUX
globalce-260	54	4	not	not	PART
globalce-260	54	5	accurate	accurate	ADJ
globalce-260	54	6	enough	enough	ADV
globalce-260	54	7	because	because	SCONJ
globalce-260	54	8	they	they	PRON
globalce-260	54	9	only	only	ADV
globalce-260	54	10	simulate	simulate	VERB
globalce-260	54	11	relative	relative	ADJ
globalce-260	54	12	visual	visual	ADJ
globalce-260	54	13	displacements	displacement	NOUN
globalce-260	54	14	.	.	PUNCT
globalce-260	55	1	mechanical	mechanical	ADJ
globalce-260	55	2	models	model	NOUN
globalce-260	55	3	are	be	AUX
globalce-260	55	4	accurate	accurate	ADJ
globalce-260	55	5	,	,	PUNCT
globalce-260	55	6	but	but	CCONJ
globalce-260	55	7	for	for	ADP
globalce-260	55	8	a	a	DET
globalce-260	55	9	vr	vr	NOUN
globalce-260	55	10	simulation	simulation	NOUN
globalce-260	55	11	,	,	PUNCT
globalce-260	55	12	they	they	PRON
globalce-260	55	13	can	can	AUX
globalce-260	55	14	change	change	VERB
globalce-260	55	15	continuously	continuously	ADV
globalce-260	55	16	until	until	SCONJ
globalce-260	55	17	they	they	PRON
globalce-260	55	18	reach	reach	VERB
globalce-260	55	19	an	an	DET
globalce-260	55	20	equilibrium	equilibrium	NOUN
globalce-260	55	21	state	state	NOUN
globalce-260	55	22	,	,	PUNCT
globalce-260	55	23	which	which	PRON
globalce-260	55	24	makes	make	VERB
globalce-260	55	25	them	they	PRON
globalce-260	55	26	difficult	difficult	ADJ
globalce-260	55	27	for	for	SCONJ
globalce-260	55	28	the	the	DET
globalce-260	55	29	operator	operator	NOUN
globalce-260	55	30	to	to	PART
globalce-260	55	31	manipulate	manipulate	VERB
globalce-260	55	32	.	.	PUNCT
globalce-260	56	1	sorkine	sorkine	PROPN
globalce-260	56	2	and	and	CCONJ
globalce-260	56	3	alexa4	alexa4	PROPN
globalce-260	56	4	propose	propose	VERB
globalce-260	56	5	a	a	DET
globalce-260	56	6	method	method	NOUN
globalce-260	56	7	for	for	ADP
globalce-260	56	8	surface	surface	NOUN
globalce-260	56	9	modelling	modelling	NOUN
globalce-260	56	10	,	,	PUNCT
globalce-260	56	11	where	where	SCONJ
globalce-260	56	12	the	the	DET
globalce-260	56	13	object	object	NOUN
globalce-260	56	14	changes	change	VERB
globalce-260	56	15	the	the	DET
globalce-260	56	16	shape	shape	NOUN
globalce-260	56	17	of	of	ADP
globalce-260	56	18	a	a	DET
globalce-260	56	19	mesh	mesh	NOUN
globalce-260	56	20	while	while	SCONJ
globalce-260	56	21	preserving	preserve	VERB
globalce-260	56	22	the	the	DET
globalce-260	56	23	details	detail	NOUN
globalce-260	56	24	.	.	PUNCT
globalce-260	57	1	it	it	PRON
globalce-260	57	2	is	be	AUX
globalce-260	57	3	characteristic	characteristic	ADJ
globalce-260	57	4	that	that	SCONJ
globalce-260	57	5	the	the	DET
globalce-260	57	6	peaks	peak	NOUN
globalce-260	57	7	of	of	ADP
globalce-260	57	8	the	the	DET
globalce-260	57	9	original	original	ADJ
globalce-260	57	10	grid	grid	NOUN
globalce-260	57	11	must	must	AUX
globalce-260	57	12	be	be	AUX
globalce-260	57	13	specified	specify	VERB
globalce-260	57	14	.	.	PUNCT
globalce-260	58	1	then	then	ADV
globalce-260	58	2	,	,	PUNCT
globalce-260	58	3	the	the	DET
globalce-260	58	4	boundary	boundary	NOUN
globalce-260	58	5	is	be	AUX
globalce-260	58	6	determined	determine	VERB
globalce-260	58	7	for	for	ADP
globalce-260	58	8	new	new	ADJ
globalce-260	58	9	positions	position	NOUN
globalce-260	58	10	,	,	PUNCT
globalce-260	58	11	so	so	SCONJ
globalce-260	58	12	that	that	SCONJ
globalce-260	58	13	the	the	DET
globalce-260	58	14	rest	rest	NOUN
globalce-260	58	15	of	of	ADP
globalce-260	58	16	the	the	DET
globalce-260	58	17	mesh	mesh	NOUN
globalce-260	58	18	vertices	vertex	NOUN
globalce-260	58	19	adapt	adapt	VERB
globalce-260	58	20	to	to	ADP
globalce-260	58	21	the	the	DET
globalce-260	58	22	new	new	ADJ
globalce-260	58	23	shape	shape	NOUN
globalce-260	58	24	.	.	PUNCT
globalce-260	59	1	the	the	DET
globalce-260	59	2	original	original	ADJ
globalce-260	59	3	geometric	geometric	ADJ
globalce-260	59	4	size	size	NOUN
globalce-260	59	5	of	of	ADP
globalce-260	59	6	the	the	DET
globalce-260	59	7	mesh	mesh	NOUN
globalce-260	59	8	should	should	AUX
globalce-260	59	9	preserve	preserve	VERB
globalce-260	59	10	as	as	ADV
globalce-260	59	11	much	much	ADJ
globalce-260	59	12	of	of	ADP
globalce-260	59	13	the	the	DET
globalce-260	59	14	deformation	deformation	NOUN
globalce-260	59	15	as	as	ADP
globalce-260	59	16	possible	possible	ADJ
globalce-260	59	17	.	.	PUNCT
globalce-260	60	1	some	some	DET
globalce-260	60	2	authors	author	NOUN
globalce-260	60	3	show	show	VERB
globalce-260	60	4	a	a	DET
globalce-260	60	5	virtual	virtual	ADJ
globalce-260	60	6	simulator	simulator	NOUN
globalce-260	60	7	for	for	ADP
globalce-260	60	8	pre	pre	ADJ
globalce-260	60	9	-	-	ADJ
globalce-260	60	10	rolled	roll	VERB
globalce-260	60	11	soft	soft	ADJ
globalce-260	60	12	tissue	tissue	NOUN
globalce-260	60	13	suturing	suture	VERB
globalce-260	60	14	without	without	ADP
globalce-260	60	15	showing	show	VERB
globalce-260	60	16	the	the	DET
globalce-260	60	17	making	making	NOUN
globalce-260	60	18	of	of	ADP
globalce-260	60	19	knots	knot	NOUN
globalce-260	60	20	,	,	PUNCT
globalce-260	60	21	which	which	PRON
globalce-260	60	22	is	be	AUX
globalce-260	60	23	a	a	DET
globalce-260	60	24	basic	basic	ADJ
globalce-260	60	25	moment	moment	NOUN
globalce-260	60	26	in	in	ADP
globalce-260	60	27	suturing.2	suturing.2	PROPN
globalce-260	60	28	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
globalce-260	60	29	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
globalce-260	60	30	ivanova	ivanova	PROPN
globalce-260	60	31	,	,	PUNCT
globalce-260	60	32	vasilev	vasilev	NOUN
globalce-260	60	33	,	,	PUNCT
globalce-260	60	34	boneva	boneva	ADV
globalce-260	60	35	:	:	PUNCT
globalce-260	60	36	training	training	NOUN
globalce-260	60	37	of	of	ADP
globalce-260	60	38	surgical	surgical	ADJ
globalce-260	60	39	skills	skill	NOUN
globalce-260	60	40	by	by	ADP
globalce-260	60	41	a	a	DET
globalce-260	60	42	3d	3d	NUM
globalce-260	60	43	augmented	augment	VERB
globalce-260	60	44	liver	liver	NOUN
globalce-260	60	45	model	model	NOUN
globalce-260	60	46	response	response	NOUN
globalce-260	60	47	during	during	ADP
globalce-260	60	48	instrument	instrument	NOUN
globalce-260	60	49	interactions	interaction	NOUN
globalce-260	60	50	simulation	simulation	NOUN
globalce-260	60	51	j	j	PROPN
globalce-260	60	52	global	global	ADJ
globalce-260	60	53	clinical	clinical	ADJ
globalce-260	60	54	engineering	engineering	NOUN
globalce-260	60	55	vol.7	vol.7	PROPN
globalce-260	60	56	issue	issue	NOUN
globalce-260	60	57	3	3	NUM
globalce-260	60	58	:	:	SYM
globalce-260	60	59	2025	2025	NUM
globalce-260	60	60	90	90	NUM
globalce-260	60	61	telesurgery	telesurgery	NOUN
globalce-260	60	62	is	be	AUX
globalce-260	60	63	evolving	evolve	VERB
globalce-260	60	64	thanks	thank	NOUN
globalce-260	60	65	to	to	ADP
globalce-260	60	66	ar	ar	NOUN
globalce-260	60	67	and	and	CCONJ
globalce-260	60	68	wireless	wireless	ADJ
globalce-260	60	69	technology	technology	NOUN
globalce-260	60	70	.	.	PUNCT
globalce-260	61	1	lead	lead	VERB
globalce-260	61	2	surgeons	surgeon	NOUN
globalce-260	61	3	can	can	AUX
globalce-260	61	4	train	train	VERB
globalce-260	61	5	students	student	NOUN
globalce-260	61	6	and	and	CCONJ
globalce-260	61	7	young	young	ADJ
globalce-260	61	8	surgeons	surgeon	NOUN
globalce-260	61	9	in	in	ADP
globalce-260	61	10	complex	complex	ADJ
globalce-260	61	11	surgical	surgical	ADJ
globalce-260	61	12	procedures	procedure	NOUN
globalce-260	61	13	.	.	PUNCT
globalce-260	62	1	surgery	surgery	NOUN
globalce-260	62	2	is	be	AUX
globalce-260	62	3	also	also	ADV
globalce-260	62	4	aided	aid	VERB
globalce-260	62	5	by	by	ADP
globalce-260	62	6	3d	3d	NUM
globalce-260	62	7	printing	printing	NOUN
globalce-260	62	8	technology	technology	NOUN
globalce-260	62	9	.	.	PUNCT
globalce-260	63	1	tumor	tumor	NOUN
globalce-260	63	2	data	datum	NOUN
globalce-260	63	3	can	can	AUX
globalce-260	63	4	be	be	AUX
globalce-260	63	5	extracted	extract	VERB
globalce-260	63	6	from	from	ADP
globalce-260	63	7	ct	ct	NUM
globalce-260	63	8	or	or	CCONJ
globalce-260	63	9	mri	mri	NOUN
globalce-260	63	10	scans	scan	NOUN
globalce-260	63	11	and	and	CCONJ
globalce-260	63	12	converted	convert	VERB
globalce-260	63	13	into	into	ADP
globalce-260	63	14	a	a	DET
globalce-260	63	15	digital	digital	ADJ
globalce-260	63	16	3d	3d	NUM
globalce-260	63	17	model	model	NOUN
globalce-260	63	18	,	,	PUNCT
globalce-260	63	19	which	which	PRON
globalce-260	63	20	can	can	AUX
globalce-260	63	21	then	then	ADV
globalce-260	63	22	be	be	AUX
globalce-260	63	23	3d	3d	NUM
globalce-260	63	24	printed	print	VERB
globalce-260	63	25	.	.	PUNCT
globalce-260	64	1	from	from	ADP
globalce-260	64	2	this	this	DET
globalce-260	64	3	model	model	NOUN
globalce-260	64	4	,	,	PUNCT
globalce-260	64	5	the	the	DET
globalce-260	64	6	surgeon	surgeon	NOUN
globalce-260	64	7	can	can	AUX
globalce-260	64	8	see	see	VERB
globalce-260	64	9	the	the	DET
globalce-260	64	10	relationship	relationship	NOUN
globalce-260	64	11	between	between	ADP
globalce-260	64	12	the	the	DET
globalce-260	64	13	tumors	tumor	NOUN
globalce-260	64	14	and	and	CCONJ
globalce-260	64	15	the	the	DET
globalce-260	64	16	surrounding	surround	VERB
globalce-260	64	17	tissue	tissue	NOUN
globalce-260	64	18	,	,	PUNCT
globalce-260	64	19	which	which	PRON
globalce-260	64	20	aids	aid	VERB
globalce-260	64	21	in	in	ADP
globalce-260	64	22	planning	plan	VERB
globalce-260	64	23	the	the	DET
globalce-260	64	24	surgery	surgery	NOUN
globalce-260	64	25	.	.	PUNCT
globalce-260	65	1	the	the	DET
globalce-260	65	2	student	student	NOUN
globalce-260	65	3	or	or	CCONJ
globalce-260	65	4	young	young	ADJ
globalce-260	65	5	surgeon	surgeon	NOUN
globalce-260	65	6	can	can	AUX
globalce-260	65	7	virtually	virtually	ADV
globalce-260	65	8	experience	experience	VERB
globalce-260	65	9	all	all	DET
globalce-260	65	10	the	the	DET
globalce-260	65	11	essential	essential	ADJ
globalce-260	65	12	aspects	aspect	NOUN
globalce-260	65	13	of	of	ADP
globalce-260	65	14	a	a	DET
globalce-260	65	15	procedure	procedure	NOUN
globalce-260	65	16	through	through	ADP
globalce-260	65	17	visual	visual	ADJ
globalce-260	65	18	simulation	simulation	NOUN
globalce-260	65	19	and	and	CCONJ
globalce-260	65	20	haptic	haptic	ADJ
globalce-260	65	21	technology	technology	NOUN
globalce-260	65	22	,	,	PUNCT
globalce-260	65	23	which	which	PRON
globalce-260	65	24	otherwise	otherwise	ADV
globalce-260	65	25	would	would	AUX
globalce-260	65	26	involve	involve	VERB
globalce-260	65	27	invasive	invasive	ADJ
globalce-260	65	28	techniques	technique	NOUN
globalce-260	65	29	on	on	ADP
globalce-260	65	30	a	a	DET
globalce-260	65	31	real	real	ADJ
globalce-260	65	32	patient	patient	NOUN
globalce-260	65	33	or	or	CCONJ
globalce-260	65	34	a	a	DET
globalce-260	65	35	corpse	corpse	NOUN
globalce-260	65	36	.	.	PUNCT
globalce-260	66	1	great	great	ADJ
globalce-260	66	2	computing	computing	NOUN
globalce-260	66	3	power	power	NOUN
globalce-260	66	4	and	and	CCONJ
globalce-260	66	5	accuracy	accuracy	NOUN
globalce-260	66	6	of	of	ADP
globalce-260	66	7	haptic	haptic	ADJ
globalce-260	66	8	devices	device	NOUN
globalce-260	66	9	are	be	AUX
globalce-260	66	10	only	only	ADV
globalce-260	66	11	part	part	NOUN
globalce-260	66	12	of	of	ADP
globalce-260	66	13	the	the	DET
globalce-260	66	14	advantages	advantage	NOUN
globalce-260	66	15	characteristic	characteristic	ADJ
globalce-260	66	16	of	of	ADP
globalce-260	66	17	modern	modern	ADJ
globalce-260	66	18	laparoscopic	laparoscopic	NOUN
globalce-260	66	19	simulations	simulation	NOUN
globalce-260	66	20	,	,	PUNCT
globalce-260	66	21	which	which	PRON
globalce-260	66	22	create	create	VERB
globalce-260	66	23	favorable	favorable	ADJ
globalce-260	66	24	conditions	condition	NOUN
globalce-260	66	25	for	for	ADP
globalce-260	66	26	the	the	DET
globalce-260	66	27	process	process	NOUN
globalce-260	66	28	of	of	ADP
globalce-260	66	29	preoperative	preoperative	ADJ
globalce-260	66	30	planning	planning	NOUN
globalce-260	66	31	and	and	CCONJ
globalce-260	66	32	the	the	DET
globalce-260	66	33	training	training	NOUN
globalce-260	66	34	of	of	ADP
globalce-260	66	35	surgeons	surgeon	NOUN
globalce-260	66	36	.	.	PUNCT
globalce-260	67	1	one	one	NUM
globalce-260	67	2	such	such	ADJ
globalce-260	67	3	development	development	NOUN
globalce-260	67	4	is	be	AUX
globalce-260	67	5	the	the	DET
globalce-260	67	6	eu	eu	PROPN
globalce-260	67	7	passport	passport	NOUN
globalce-260	67	8	for	for	ADP
globalce-260	67	9	the	the	DET
globalce-260	67	10	simulation	simulation	NOUN
globalce-260	67	11	of	of	ADP
globalce-260	67	12	laparoscopic	laparoscopic	ADJ
globalce-260	67	13	liver	liver	NOUN
globalce-260	67	14	resection	resection	NOUN
globalce-260	67	15	,	,	PUNCT
globalce-260	67	16	which	which	PRON
globalce-260	67	17	uses	use	VERB
globalce-260	67	18	many	many	ADJ
globalce-260	67	19	modern	modern	ADJ
globalce-260	67	20	methods	method	NOUN
globalce-260	67	21	and	and	CCONJ
globalce-260	67	22	the	the	DET
globalce-260	67	23	capabilities	capability	NOUN
globalce-260	67	24	of	of	ADP
globalce-260	67	25	the	the	DET
globalce-260	67	26	gpu	gpu	NOUN
globalce-260	67	27	to	to	PART
globalce-260	67	28	simulate	simulate	VERB
globalce-260	67	29	various	various	ADJ
globalce-260	67	30	deformable	deformable	ADJ
globalce-260	67	31	organs	organ	NOUN
globalce-260	67	32	in	in	ADP
globalce-260	67	33	real	real	ADJ
globalce-260	67	34	time	time	NOUN
globalce-260	67	35	.	.	PUNCT
globalce-260	68	1	”5	”5	PUNCT
globalce-260	68	2	the	the	DET
globalce-260	68	3	work	work	NOUN
globalce-260	68	4	of	of	ADP
globalce-260	68	5	acharya	acharya	NOUN
globalce-260	68	6	,	,	PUNCT
globalce-260	68	7	where	where	SCONJ
globalce-260	68	8	the	the	DET
globalce-260	68	9	kinematics	kinematic	NOUN
globalce-260	68	10	of	of	ADP
globalce-260	68	11	the	the	DET
globalce-260	68	12	surrounding	surround	VERB
globalce-260	68	13	organs	organ	NOUN
globalce-260	68	14	are	be	AUX
globalce-260	68	15	studied	study	VERB
globalce-260	68	16	,	,	PUNCT
globalce-260	68	17	is	be	AUX
globalce-260	68	18	also	also	ADV
globalce-260	68	19	intended	intend	VERB
globalce-260	68	20	for	for	ADP
globalce-260	68	21	simulation	simulation	NOUN
globalce-260	68	22	training	training	NOUN
globalce-260	68	23	and	and	CCONJ
globalce-260	68	24	access	access	NOUN
globalce-260	68	25	(	(	PUNCT
globalce-260	68	26	geometry	geometry	NOUN
globalce-260	68	27	)	)	PUNCT
globalce-260	68	28	to	to	ADP
globalce-260	68	29	the	the	DET
globalce-260	68	30	liver.6	liver.6	NOUN
globalce-260	68	31	in	in	ADP
globalce-260	68	32	this	this	DET
globalce-260	68	33	research	research	NOUN
globalce-260	68	34	,	,	PUNCT
globalce-260	68	35	diaphragm	diaphragm	NOUN
globalce-260	68	36	movement	movement	NOUN
globalce-260	68	37	patterns	pattern	NOUN
globalce-260	68	38	are	be	AUX
globalce-260	68	39	also	also	ADV
globalce-260	68	40	presented	present	VERB
globalce-260	68	41	for	for	ADP
globalce-260	68	42	use	use	NOUN
globalce-260	68	43	in	in	ADP
globalce-260	68	44	simulators	simulator	NOUN
globalce-260	68	45	for	for	ADP
globalce-260	68	46	preoperative	preoperative	NOUN
globalce-260	68	47	planning	planning	NOUN
globalce-260	68	48	and	and	CCONJ
globalce-260	68	49	training	training	NOUN
globalce-260	68	50	.	.	PUNCT
globalce-260	69	1	an	an	DET
globalce-260	69	2	advancement	advancement	NOUN
globalce-260	69	3	in	in	ADP
globalce-260	69	4	the	the	DET
globalce-260	69	5	field	field	NOUN
globalce-260	69	6	of	of	ADP
globalce-260	69	7	organ	organ	NOUN
globalce-260	69	8	modelling	modelling	NOUN
globalce-260	69	9	is	be	AUX
globalce-260	69	10	also	also	ADV
globalce-260	69	11	the	the	DET
globalce-260	69	12	work	work	NOUN
globalce-260	69	13	of	of	ADP
globalce-260	69	14	villard,7	villard,7	NOUN
globalce-260	69	15	where	where	SCONJ
globalce-260	69	16	respiratory	respiratory	ADJ
globalce-260	69	17	movements	movement	NOUN
globalce-260	69	18	of	of	ADP
globalce-260	69	19	the	the	DET
globalce-260	69	20	chest	chest	NOUN
globalce-260	69	21	and	and	CCONJ
globalce-260	69	22	soft	soft	ADJ
globalce-260	69	23	tissue	tissue	NOUN
globalce-260	69	24	behavior	behavior	NOUN
globalce-260	69	25	of	of	ADP
globalce-260	69	26	organs	organ	NOUN
globalce-260	69	27	of	of	ADP
globalce-260	69	28	a	a	DET
globalce-260	69	29	group	group	NOUN
globalce-260	69	30	of	of	ADP
globalce-260	69	31	patients	patient	NOUN
globalce-260	69	32	segmented	segment	VERB
globalce-260	69	33	by	by	ADP
globalce-260	69	34	computed	compute	VERB
globalce-260	69	35	tomography	tomography	NOUN
globalce-260	69	36	in	in	ADP
globalce-260	69	37	a	a	DET
globalce-260	69	38	liver	liver	NOUN
globalce-260	69	39	biopsy	biopsy	NOUN
globalce-260	69	40	simulator	simulator	NOUN
globalce-260	69	41	are	be	AUX
globalce-260	69	42	modelled	model	VERB
globalce-260	69	43	.	.	PUNCT
globalce-260	70	1	a	a	DET
globalce-260	70	2	nonlinear	nonlinear	ADJ
globalce-260	70	3	liver	liver	NOUN
globalce-260	70	4	model	model	NOUN
globalce-260	70	5	to	to	PART
globalce-260	70	6	measure	measure	VERB
globalce-260	70	7	organ	organ	NOUN
globalce-260	70	8	response	response	NOUN
globalce-260	70	9	to	to	ADP
globalce-260	70	10	force	force	NOUN
globalce-260	70	11	,	,	PUNCT
globalce-260	70	12	accounting	account	VERB
globalce-260	70	13	for	for	ADP
globalce-260	70	14	organ	organ	NOUN
globalce-260	70	15	deformation	deformation	NOUN
globalce-260	70	16	and	and	CCONJ
globalce-260	70	17	boundary	boundary	ADJ
globalce-260	70	18	conditions	condition	NOUN
globalce-260	70	19	,	,	PUNCT
globalce-260	70	20	is	be	AUX
globalce-260	70	21	presented	present	VERB
globalce-260	70	22	by	by	ADP
globalce-260	70	23	lister.8	lister.8	ADJ
globalce-260	70	24	the	the	DET
globalce-260	70	25	accuracy	accuracy	NOUN
globalce-260	70	26	of	of	ADP
globalce-260	70	27	the	the	DET
globalce-260	70	28	model	model	NOUN
globalce-260	70	29	is	be	AUX
globalce-260	70	30	assessed	assess	VERB
globalce-260	70	31	by	by	ADP
globalce-260	70	32	drilling	drilling	NOUN
globalce-260	70	33	simulation	simulation	NOUN
globalce-260	70	34	.	.	PUNCT
globalce-260	71	1	there	there	PRON
globalce-260	71	2	has	have	AUX
globalce-260	71	3	also	also	ADV
globalce-260	71	4	been	be	AUX
globalce-260	71	5	progress	progress	NOUN
globalce-260	71	6	in	in	ADP
globalce-260	71	7	the	the	DET
globalce-260	71	8	modelling	modelling	NOUN
globalce-260	71	9	of	of	ADP
globalce-260	71	10	surgical	surgical	ADJ
globalce-260	71	11	procedures	procedure	NOUN
globalce-260	71	12	.	.	PUNCT
globalce-260	72	1	a	a	DET
globalce-260	72	2	team	team	NOUN
globalce-260	72	3	of	of	ADP
globalce-260	72	4	scientists	scientist	NOUN
globalce-260	72	5	presented	present	VERB
globalce-260	72	6	a	a	DET
globalce-260	72	7	real	real	ADJ
globalce-260	72	8	-	-	PUNCT
globalce-260	72	9	time	time	NOUN
globalce-260	72	10	electrosurgical	electrosurgical	ADJ
globalce-260	72	11	simulation	simulation	NOUN
globalce-260	72	12	virtual	virtual	ADJ
globalce-260	72	13	tool	tool	NOUN
globalce-260	72	14	where	where	SCONJ
globalce-260	72	15	the	the	DET
globalce-260	72	16	relationship	relationship	NOUN
globalce-260	72	17	between	between	ADP
globalce-260	72	18	heat	heat	NOUN
globalce-260	72	19	generated	generate	VERB
globalce-260	72	20	in	in	ADP
globalce-260	72	21	the	the	DET
globalce-260	72	22	tissue	tissue	NOUN
globalce-260	72	23	and	and	CCONJ
globalce-260	72	24	applied	apply	VERB
globalce-260	72	25	electrical	electrical	ADJ
globalce-260	72	26	potential	potential	NOUN
globalce-260	72	27	was	be	AUX
globalce-260	72	28	explored.9	explored.9	PROPN
globalce-260	72	29	all	all	DET
globalce-260	72	30	this	this	PRON
globalce-260	72	31	finds	find	VERB
globalce-260	72	32	good	good	ADJ
globalce-260	72	33	application	application	NOUN
globalce-260	72	34	in	in	ADP
globalce-260	72	35	virtual	virtual	ADJ
globalce-260	72	36	surgical	surgical	ADJ
globalce-260	72	37	ablation	ablation	NOUN
globalce-260	72	38	.	.	PUNCT
globalce-260	73	1	over	over	ADP
globalce-260	73	2	the	the	DET
globalce-260	73	3	years	year	NOUN
globalce-260	73	4	,	,	PUNCT
globalce-260	73	5	3d	3d	NUM
globalce-260	73	6	organ	organ	NOUN
globalce-260	73	7	models	model	NOUN
globalce-260	73	8	have	have	AUX
globalce-260	73	9	moved	move	VERB
globalce-260	73	10	from	from	ADP
globalce-260	73	11	linear10	linear10	NOUN
globalce-260	73	12	to	to	ADP
globalce-260	73	13	nonlinear,11	nonlinear,11	NOUN
globalce-260	73	14	moreover	moreover	ADV
globalce-260	73	15	,	,	PUNCT
globalce-260	73	16	simulations	simulation	NOUN
globalce-260	73	17	are	be	AUX
globalce-260	73	18	increasingly	increasingly	ADV
globalce-260	73	19	complex	complex	ADJ
globalce-260	73	20	and	and	CCONJ
globalce-260	73	21	realistic	realistic	ADJ
globalce-260	73	22	,	,	PUNCT
globalce-260	73	23	making	make	VERB
globalce-260	73	24	them	they	PRON
globalce-260	73	25	accessible	accessible	ADJ
globalce-260	73	26	and	and	CCONJ
globalce-260	73	27	attractive	attractive	ADJ
globalce-260	73	28	for	for	ADP
globalce-260	73	29	applications	application	NOUN
globalce-260	73	30	.	.	PUNCT
globalce-260	74	1	force	force	NOUN
globalce-260	74	2	feedback	feedback	NOUN
globalce-260	74	3	simulators	simulator	NOUN
globalce-260	74	4	are	be	AUX
globalce-260	74	5	a	a	DET
globalce-260	74	6	more	more	ADV
globalce-260	74	7	intuitive	intuitive	ADJ
globalce-260	74	8	means	mean	NOUN
globalce-260	74	9	of	of	ADP
globalce-260	74	10	providing	provide	VERB
globalce-260	74	11	haptic	haptic	ADJ
globalce-260	74	12	information	information	NOUN
globalce-260	74	13	to	to	ADP
globalce-260	74	14	the	the	DET
globalce-260	74	15	surgeon	surgeon	NOUN
globalce-260	74	16	,	,	PUNCT
globalce-260	74	17	while	while	SCONJ
globalce-260	74	18	visual	visual	ADJ
globalce-260	74	19	force	force	NOUN
globalce-260	74	20	feedback	feedback	NOUN
globalce-260	74	21	provides	provide	VERB
globalce-260	74	22	information	information	NOUN
globalce-260	74	23	about	about	ADP
globalce-260	74	24	instrument	instrument	NOUN
globalce-260	74	25	contact	contact	NOUN
globalce-260	74	26	with	with	ADP
globalce-260	74	27	tissue	tissue	NOUN
globalce-260	74	28	under	under	ADP
globalce-260	74	29	certain	certain	ADJ
globalce-260	74	30	conditions	condition	NOUN
globalce-260	74	31	.	.	PUNCT
globalce-260	75	1	that	that	PRON
globalce-260	75	2	is	be	AUX
globalce-260	75	3	why	why	SCONJ
globalce-260	75	4	haptic	haptic	ADJ
globalce-260	75	5	devices	device	NOUN
globalce-260	75	6	with	with	ADP
globalce-260	75	7	touch	touch	NOUN
globalce-260	75	8	simulation	simulation	NOUN
globalce-260	75	9	are	be	AUX
globalce-260	75	10	increasingly	increasingly	ADV
globalce-260	75	11	being	be	AUX
globalce-260	75	12	used	use	VERB
globalce-260	75	13	.	.	PUNCT
globalce-260	76	1	they	they	PRON
globalce-260	76	2	are	be	AUX
globalce-260	76	3	used	use	VERB
globalce-260	76	4	in	in	ADP
globalce-260	76	5	medicine	medicine	NOUN
globalce-260	76	6	for	for	ADP
globalce-260	76	7	training	training	NOUN
globalce-260	76	8	and	and	CCONJ
globalce-260	76	9	planning	plan	VERB
globalce-260	76	10	operations.12	operations.12	NUM
globalce-260	76	11	one	one	NUM
globalce-260	76	12	of	of	ADP
globalce-260	76	13	the	the	DET
globalce-260	76	14	first	first	ADJ
globalce-260	76	15	palpation	palpation	NOUN
globalce-260	76	16	developments	development	NOUN
globalce-260	76	17	is	be	AUX
globalce-260	76	18	a	a	DET
globalce-260	76	19	3d	3d	NUM
globalce-260	76	20	visual	visual	ADJ
globalce-260	76	21	and	and	CCONJ
globalce-260	76	22	haptic	haptic	ADJ
globalce-260	76	23	liver	liver	NOUN
globalce-260	76	24	diagnostic	diagnostic	ADJ
globalce-260	76	25	simulator	simulator	NOUN
globalce-260	76	26	with	with	ADP
globalce-260	76	27	open	open	ADJ
globalce-260	76	28	-	-	PUNCT
globalce-260	76	29	source	source	NOUN
globalce-260	76	30	software.13	software.13	NOUN
globalce-260	76	31	simsuitetm	simsuitetm	NOUN
globalce-260	76	32	system	system	NOUN
globalce-260	76	33	by	by	ADP
globalce-260	76	34	medical	medical	ADJ
globalce-260	76	35	simulation	simulation	NOUN
globalce-260	76	36	corporation	corporation	NOUN
globalce-260	76	37	is	be	AUX
globalce-260	76	38	one	one	NUM
globalce-260	76	39	of	of	ADP
globalce-260	76	40	the	the	DET
globalce-260	76	41	representatives	representative	NOUN
globalce-260	76	42	of	of	ADP
globalce-260	76	43	haptics	haptic	NOUN
globalce-260	76	44	devices	device	NOUN
globalce-260	76	45	,	,	PUNCT
globalce-260	76	46	with	with	ADP
globalce-260	76	47	a	a	DET
globalce-260	76	48	realistic	realistic	ADJ
globalce-260	76	49	simulated	simulated	ADJ
globalce-260	76	50	clinical	clinical	ADJ
globalce-260	76	51	environment.14	environment.14	PROPN
globalce-260	76	52	it	it	PRON
globalce-260	76	53	offers	offer	VERB
globalce-260	76	54	haptic	haptic	ADJ
globalce-260	76	55	systems	system	NOUN
globalce-260	76	56	with	with	ADP
globalce-260	76	57	real	real	ADJ
globalce-260	76	58	scenarios	scenario	NOUN
globalce-260	76	59	and	and	CCONJ
globalce-260	76	60	images	image	NOUN
globalce-260	76	61	together	together	ADV
globalce-260	76	62	.	.	PUNCT
globalce-260	77	1	the	the	DET
globalce-260	77	2	force	force	NOUN
globalce-260	77	3	feedback	feedback	NOUN
globalce-260	77	4	is	be	AUX
globalce-260	77	5	transmitted	transmit	VERB
globalce-260	77	6	by	by	ADP
globalce-260	77	7	an	an	DET
globalce-260	77	8	endoscope	endoscope	NOUN
globalce-260	77	9	to	to	PART
globalce-260	77	10	give	give	VERB
globalce-260	77	11	the	the	DET
globalce-260	77	12	real	real	ADJ
globalce-260	77	13	feeling	feeling	NOUN
globalce-260	77	14	.	.	PUNCT
globalce-260	78	1	the	the	DET
globalce-260	78	2	system	system	NOUN
globalce-260	78	3	includes	include	VERB
globalce-260	78	4	personal	personal	ADJ
globalce-260	78	5	or	or	CCONJ
globalce-260	78	6	team	team	NOUN
globalce-260	78	7	training	training	NOUN
globalce-260	78	8	with	with	ADP
globalce-260	78	9	varying	vary	VERB
globalce-260	78	10	levels	level	NOUN
globalce-260	78	11	of	of	ADP
globalce-260	78	12	complexity	complexity	NOUN
globalce-260	78	13	.	.	PUNCT
globalce-260	79	1	its	its	PRON
globalce-260	79	2	possibilities	possibility	NOUN
globalce-260	79	3	are	be	AUX
globalce-260	79	4	the	the	DET
globalce-260	79	5	patient	patient	ADJ
globalce-260	79	6	history	history	NOUN
globalce-260	79	7	,	,	PUNCT
globalce-260	79	8	diagnosis	diagnosis	NOUN
globalce-260	79	9	,	,	PUNCT
globalce-260	79	10	risk	risk	NOUN
globalce-260	79	11	assessment	assessment	NOUN
globalce-260	79	12	,	,	PUNCT
globalce-260	79	13	and	and	CCONJ
globalce-260	79	14	intervention	intervention	NOUN
globalce-260	79	15	preparation	preparation	NOUN
globalce-260	79	16	.	.	PUNCT
globalce-260	80	1	the	the	DET
globalce-260	80	2	training	training	NOUN
globalce-260	80	3	program	program	NOUN
globalce-260	80	4	proposed	propose	VERB
globalce-260	80	5	in	in	ADP
globalce-260	80	6	this	this	DET
globalce-260	80	7	publication	publication	NOUN
globalce-260	80	8	,	,	PUNCT
globalce-260	80	9	referred	refer	VERB
globalce-260	80	10	to	to	ADP
globalce-260	80	11	as	as	ADP
globalce-260	80	12	the	the	DET
globalce-260	80	13	training	training	NOUN
globalce-260	80	14	program	program	NOUN
globalce-260	80	15	simulating	simulate	VERB
globalce-260	80	16	(	(	PUNCT
globalce-260	80	17	tps	tps	NOUN
globalce-260	80	18	)	)	PUNCT
globalce-260	80	19	,	,	PUNCT
globalce-260	80	20	facilitates	facilitate	VERB
globalce-260	80	21	the	the	DET
globalce-260	80	22	observation	observation	NOUN
globalce-260	80	23	of	of	ADP
globalce-260	80	24	three	three	NUM
globalce-260	80	25	-	-	PUNCT
globalce-260	80	26	dimensional	dimensional	ADJ
globalce-260	80	27	(	(	PUNCT
globalce-260	80	28	3d	3d	NOUN
globalce-260	80	29	)	)	PUNCT
globalce-260	80	30	augmented	augment	VERB
globalce-260	80	31	model	model	NOUN
globalce-260	80	32	responses	response	NOUN
globalce-260	80	33	during	during	ADP
globalce-260	80	34	tactile	tactile	ADJ
globalce-260	80	35	instrument	instrument	NOUN
globalce-260	80	36	interactions	interaction	NOUN
globalce-260	80	37	within	within	ADP
globalce-260	80	38	the	the	DET
globalce-260	80	39	context	context	NOUN
globalce-260	80	40	of	of	ADP
globalce-260	80	41	surgical	surgical	ADJ
globalce-260	80	42	education	education	NOUN
globalce-260	80	43	.	.	PUNCT
globalce-260	81	1	this	this	DET
globalce-260	81	2	program	program	NOUN
globalce-260	81	3	was	be	AUX
globalce-260	81	4	developed	develop	VERB
globalce-260	81	5	to	to	PART
globalce-260	81	6	enhance	enhance	VERB
globalce-260	81	7	the	the	DET
globalce-260	81	8	training	training	NOUN
globalce-260	81	9	of	of	ADP
globalce-260	81	10	students	student	NOUN
globalce-260	81	11	and	and	CCONJ
globalce-260	81	12	improve	improve	VERB
globalce-260	81	13	the	the	DET
globalce-260	81	14	qualifications	qualification	NOUN
globalce-260	81	15	of	of	ADP
globalce-260	81	16	surgical	surgical	ADJ
globalce-260	81	17	personnel	personnel	NOUN
globalce-260	81	18	in	in	ADP
globalce-260	81	19	the	the	DET
globalce-260	81	20	use	use	NOUN
globalce-260	81	21	of	of	ADP
globalce-260	81	22	laparoscopic	laparoscopic	NOUN
globalce-260	81	23	instruments	instrument	NOUN
globalce-260	81	24	.	.	PUNCT
globalce-260	82	1	the	the	DET
globalce-260	82	2	application	application	NOUN
globalce-260	82	3	presented	present	VERB
globalce-260	82	4	herein	herein	NOUN
globalce-260	82	5	represents	represent	VERB
globalce-260	82	6	an	an	DET
globalce-260	82	7	advancement	advancement	NOUN
globalce-260	82	8	of	of	ADP
globalce-260	82	9	an	an	DET
globalce-260	82	10	existing	exist	VERB
globalce-260	82	11	mechatronic	mechatronic	ADJ
globalce-260	82	12	system	system	NOUN
globalce-260	82	13	designed	design	VERB
globalce-260	82	14	for	for	ADP
globalce-260	82	15	laparoscopic	laparoscopic	ADJ
globalce-260	82	16	surgical	surgical	ADJ
globalce-260	82	17	training	training	NOUN
globalce-260	82	18	,	,	PUNCT
globalce-260	82	19	aimed	aim	VERB
globalce-260	82	20	at	at	ADP
globalce-260	82	21	both	both	DET
globalce-260	82	22	student	student	NOUN
globalce-260	82	23	education	education	NOUN
globalce-260	82	24	and	and	CCONJ
globalce-260	82	25	the	the	DET
globalce-260	82	26	professional	professional	ADJ
globalce-260	82	27	development	development	NOUN
globalce-260	82	28	of	of	ADP
globalce-260	82	29	surgeons	surgeon	NOUN
globalce-260	82	30	.	.	PUNCT
globalce-260	83	1	the	the	DET
globalce-260	83	2	system	system	NOUN
globalce-260	83	3	is	be	AUX
globalce-260	83	4	constructed	construct	VERB
globalce-260	83	5	on	on	ADP
globalce-260	83	6	a	a	DET
globalce-260	83	7	modular	modular	ADJ
globalce-260	83	8	framework	framework	NOUN
globalce-260	83	9	,	,	PUNCT
globalce-260	83	10	reflecting	reflect	VERB
globalce-260	83	11	the	the	DET
globalce-260	83	12	principles	principle	NOUN
globalce-260	83	13	underlying	underlie	VERB
globalce-260	83	14	the	the	DET
globalce-260	83	15	program	program	NOUN
globalce-260	83	16	’s	’s	PART
globalce-260	83	17	implementation	implementation	NOUN
globalce-260	83	18	.	.	PUNCT
globalce-260	84	1	this	this	DET
globalce-260	84	2	training	training	NOUN
globalce-260	84	3	platform	platform	NOUN
globalce-260	84	4	was	be	AUX
globalce-260	84	5	developed	develop	VERB
globalce-260	84	6	so	so	SCONJ
globalce-260	84	7	that	that	SCONJ
globalce-260	84	8	students	student	NOUN
globalce-260	84	9	and	and	CCONJ
globalce-260	84	10	surgeons	surgeon	NOUN
globalce-260	84	11	can	can	AUX
globalce-260	84	12	improve	improve	VERB
globalce-260	84	13	their	their	PRON
globalce-260	84	14	qualifications	qualification	NOUN
globalce-260	84	15	without	without	ADP
globalce-260	84	16	using	use	VERB
globalce-260	84	17	living	live	VERB
globalce-260	84	18	organisms	organism	NOUN
globalce-260	84	19	—	—	PUNCT
globalce-260	84	20	humans	human	NOUN
globalce-260	84	21	and	and	CCONJ
globalce-260	84	22	animals	animal	NOUN
globalce-260	84	23	.	.	PUNCT
globalce-260	85	1	virtual	virtual	ADJ
globalce-260	85	2	and	and	CCONJ
globalce-260	85	3	ar	ar	NOUN
globalce-260	85	4	simulators	simulator	NOUN
globalce-260	85	5	and	and	CCONJ
globalce-260	85	6	their	their	PRON
globalce-260	85	7	part	part	NOUN
globalce-260	85	8	in	in	ADP
globalce-260	85	9	surgical	surgical	ADJ
globalce-260	85	10	education	education	NOUN
globalce-260	85	11	one	one	NUM
globalce-260	85	12	of	of	ADP
globalce-260	85	13	the	the	DET
globalce-260	85	14	first	first	ADJ
globalce-260	85	15	vr	vr	PROPN
globalce-260	85	16	simulators	simulator	NOUN
globalce-260	85	17	is	be	AUX
globalce-260	85	18	the	the	DET
globalce-260	85	19	satava	satava	NOUN
globalce-260	85	20	,	,	PUNCT
globalce-260	85	21	proposed	propose	VERB
globalce-260	85	22	in	in	ADP
globalce-260	85	23	1993	1993	NUM
globalce-260	85	24	.	.	PUNCT
globalce-260	86	1	it	it	PRON
globalce-260	86	2	used	use	VERB
globalce-260	86	3	a	a	DET
globalce-260	86	4	computerized	computerized	ADJ
globalce-260	86	5	3d	3d	NUM
globalce-260	86	6	model	model	NOUN
globalce-260	86	7	of	of	ADP
globalce-260	86	8	the	the	DET
globalce-260	86	9	abdominal	abdominal	ADJ
globalce-260	86	10	cavity	cavity	NOUN
globalce-260	86	11	and	and	CCONJ
globalce-260	86	12	a	a	DET
globalce-260	86	13	head	head	NOUN
globalce-260	86	14	-	-	PUNCT
globalce-260	86	15	mounted	mount	VERB
globalce-260	86	16	display	display	NOUN
globalce-260	86	17	(	(	PUNCT
globalce-260	86	18	hmd).15	hmd).15	X
globalce-260	86	19	satava	satava	PROPN
globalce-260	86	20	is	be	AUX
globalce-260	86	21	also	also	ADV
globalce-260	86	22	91	91	NUM
globalce-260	86	23	j	j	PROPN
globalce-260	86	24	global	global	ADJ
globalce-260	86	25	clinical	clinical	ADJ
globalce-260	86	26	engineering	engineering	NOUN
globalce-260	86	27	vol.7	vol.7	PROPN
globalce-260	86	28	issue	issue	NOUN
globalce-260	86	29	3	3	NUM
globalce-260	86	30	:	:	SYM
globalce-260	86	31	2025	2025	NUM
globalce-260	86	32	ivanova	ivanova	PROPN
globalce-260	86	33	,	,	PUNCT
globalce-260	86	34	vasilev	vasilev	NOUN
globalce-260	86	35	,	,	PUNCT
globalce-260	86	36	boneva	boneva	ADV
globalce-260	86	37	:	:	PUNCT
globalce-260	86	38	training	training	NOUN
globalce-260	86	39	of	of	ADP
globalce-260	86	40	surgical	surgical	ADJ
globalce-260	86	41	skills	skill	NOUN
globalce-260	86	42	by	by	ADP
globalce-260	86	43	a	a	DET
globalce-260	86	44	3d	3d	NUM
globalce-260	86	45	augmented	augment	VERB
globalce-260	86	46	liver	liver	NOUN
globalce-260	86	47	model	model	NOUN
globalce-260	86	48	response	response	NOUN
globalce-260	86	49	during	during	ADP
globalce-260	86	50	instrument	instrument	NOUN
globalce-260	86	51	interactions	interaction	NOUN
globalce-260	86	52	simulation	simulation	NOUN
globalce-260	86	53	telesurgery	telesurgery	NOUN
globalce-260	86	54	is	be	AUX
globalce-260	86	55	a	a	DET
globalce-260	86	56	good	good	ADJ
globalce-260	86	57	aid	aid	NOUN
globalce-260	86	58	for	for	ADP
globalce-260	86	59	experienced	experienced	ADJ
globalce-260	86	60	surgeons	surgeon	NOUN
globalce-260	86	61	teaching	teach	VERB
globalce-260	86	62	young	young	ADJ
globalce-260	86	63	surgeons	surgeon	NOUN
globalce-260	86	64	in	in	ADP
globalce-260	86	65	complex	complex	ADJ
globalce-260	86	66	operations	operation	NOUN
globalce-260	86	67	.	.	PUNCT
globalce-260	87	1	thanks	thank	NOUN
globalce-260	87	2	to	to	ADP
globalce-260	87	3	ar	ar	NOUN
globalce-260	87	4	and	and	CCONJ
globalce-260	87	5	wireless	wireless	ADJ
globalce-260	87	6	devices	device	NOUN
globalce-260	87	7	,	,	PUNCT
globalce-260	87	8	ar	ar	PROPN
globalce-260	87	9	simulators	simulator	NOUN
globalce-260	87	10	take	take	VERB
globalce-260	87	11	advantage	advantage	NOUN
globalce-260	87	12	of	of	ADP
globalce-260	87	13	vr	vr	NOUN
globalce-260	87	14	and	and	CCONJ
globalce-260	87	15	physical	physical	ADJ
globalce-260	87	16	materials	material	NOUN
globalce-260	87	17	,	,	PUNCT
globalce-260	87	18	tools	tool	NOUN
globalce-260	87	19	,	,	PUNCT
globalce-260	87	20	and	and	CCONJ
globalce-260	87	21	tactile	tactile	VERB
globalce-260	87	22	feedback	feedback	NOUN
globalce-260	87	23	.	.	PUNCT
globalce-260	88	1	the	the	DET
globalce-260	88	2	3d	3d	PROPN
globalce-260	88	3	virtual	virtual	ADJ
globalce-260	88	4	model	model	NOUN
globalce-260	88	5	is	be	AUX
globalce-260	88	6	a	a	DET
globalce-260	88	7	static	static	ADJ
globalce-260	88	8	preoperative	preoperative	ADJ
globalce-260	88	9	photo	photo	NOUN
globalce-260	88	10	of	of	ADP
globalce-260	88	11	a	a	DET
globalce-260	88	12	certain	certain	ADJ
globalce-260	88	13	part	part	NOUN
globalce-260	88	14	of	of	ADP
globalce-260	88	15	the	the	DET
globalce-260	88	16	body	body	NOUN
globalce-260	88	17	,	,	PUNCT
globalce-260	88	18	where	where	SCONJ
globalce-260	88	19	even	even	ADV
globalce-260	88	20	respiratory	respiratory	ADJ
globalce-260	88	21	movements	movement	NOUN
globalce-260	88	22	and	and	CCONJ
globalce-260	88	23	manipulation	manipulation	NOUN
globalce-260	88	24	of	of	ADP
globalce-260	88	25	the	the	DET
globalce-260	88	26	organ	organ	NOUN
globalce-260	88	27	are	be	AUX
globalce-260	88	28	taken	take	VERB
globalce-260	88	29	into	into	ADP
globalce-260	88	30	account	account	NOUN
globalce-260	88	31	.	.	PUNCT
globalce-260	89	1	these	these	DET
globalce-260	89	2	kinds	kind	NOUN
globalce-260	89	3	of	of	ADP
globalce-260	89	4	simulators	simulator	NOUN
globalce-260	89	5	are	be	AUX
globalce-260	89	6	useful	useful	ADJ
globalce-260	89	7	for	for	ADP
globalce-260	89	8	simulation	simulation	NOUN
globalce-260	89	9	immediately	immediately	ADV
globalce-260	89	10	before	before	ADP
globalce-260	89	11	performing	perform	VERB
globalce-260	89	12	complex	complex	ADJ
globalce-260	89	13	surgical	surgical	ADJ
globalce-260	89	14	operations.24,25	operations.24,25	NOUN
globalce-260	89	15	the	the	DET
globalce-260	89	16	high	high	ADJ
globalce-260	89	17	simulation	simulation	NOUN
globalce-260	89	18	accuracy	accuracy	NOUN
globalce-260	89	19	of	of	ADP
globalce-260	89	20	the	the	DET
globalce-260	89	21	simulator	simulator	NOUN
globalce-260	89	22	allows	allow	VERB
globalce-260	89	23	visualization	visualization	NOUN
globalce-260	89	24	of	of	ADP
globalce-260	89	25	different	different	ADJ
globalce-260	89	26	tissues	tissue	NOUN
globalce-260	89	27	,	,	PUNCT
globalce-260	89	28	tumors	tumor	NOUN
globalce-260	89	29	,	,	PUNCT
globalce-260	89	30	arteries	artery	NOUN
globalce-260	89	31	,	,	PUNCT
globalce-260	89	32	and	and	CCONJ
globalce-260	89	33	veins	vein	NOUN
globalce-260	89	34	.	.	PUNCT
globalce-260	90	1	ar	ar	PROPN
globalce-260	90	2	in	in	ADP
globalce-260	90	3	medicine	medicine	NOUN
globalce-260	90	4	dates	date	VERB
globalce-260	90	5	back	back	ADV
globalce-260	90	6	to	to	ADP
globalce-260	90	7	1988	1988	NUM
globalce-260	90	8	.	.	PUNCT
globalce-260	91	1	one	one	NUM
globalce-260	91	2	of	of	ADP
globalce-260	91	3	the	the	DET
globalce-260	91	4	first	first	PROPN
globalce-260	91	5	medical	medical	PROPN
globalce-260	91	6	ar	ar	PROPN
globalce-260	91	7	systems	system	NOUN
globalce-260	91	8	was	be	AUX
globalce-260	91	9	designed	design	VERB
globalce-260	91	10	to	to	PART
globalce-260	91	11	display	display	VERB
globalce-260	91	12	individual	individual	ADJ
globalce-260	91	13	ultrasound	ultrasound	NOUN
globalce-260	91	14	slices	slice	NOUN
globalce-260	91	15	of	of	ADP
globalce-260	91	16	a	a	DET
globalce-260	91	17	fetus	fetus	NOUN
globalce-260	91	18	on	on	ADP
globalce-260	91	19	a	a	DET
globalce-260	91	20	pregnant	pregnant	ADJ
globalce-260	91	21	patient.26,27	patient.26,27	PROPN
globalce-260	91	22	ar	ar	PROPN
globalce-260	91	23	aids	aids	PROPN
globalce-260	91	24	mis	mis	PROPN
globalce-260	91	25	by	by	ADP
globalce-260	91	26	enhancing	enhance	VERB
globalce-260	91	27	reality	reality	NOUN
globalce-260	91	28	in	in	ADP
globalce-260	91	29	the	the	DET
globalce-260	91	30	operating	operating	NOUN
globalce-260	91	31	room	room	NOUN
globalce-260	91	32	,	,	PUNCT
globalce-260	91	33	expanding	expand	VERB
globalce-260	91	34	the	the	DET
globalce-260	91	35	internal	internal	ADJ
globalce-260	91	36	view	view	NOUN
globalce-260	91	37	of	of	ADP
globalce-260	91	38	the	the	DET
globalce-260	91	39	patient	patient	NOUN
globalce-260	91	40	based	base	VERB
globalce-260	91	41	on	on	ADP
globalce-260	91	42	preoperative	preoperative	ADJ
globalce-260	91	43	or	or	CCONJ
globalce-260	91	44	intraoperative	intraoperative	ADJ
globalce-260	91	45	data	datum	NOUN
globalce-260	91	46	,	,	PUNCT
globalce-260	91	47	and	and	CCONJ
globalce-260	91	48	presenting	present	VERB
globalce-260	91	49	the	the	DET
globalce-260	91	50	surgeon	surgeon	NOUN
globalce-260	91	51	with	with	ADP
globalce-260	91	52	detailed	detailed	ADJ
globalce-260	91	53	information	information	NOUN
globalce-260	91	54	about	about	ADP
globalce-260	91	55	the	the	DET
globalce-260	91	56	operative	operative	ADJ
globalce-260	91	57	field	field	NOUN
globalce-260	91	58	.	.	PUNCT
globalce-260	92	1	integrating	integrate	VERB
globalce-260	92	2	pictures	picture	NOUN
globalce-260	92	3	of	of	ADP
globalce-260	92	4	virtual	virtual	ADJ
globalce-260	92	5	objects	object	NOUN
globalce-260	92	6	into	into	ADP
globalce-260	92	7	real	real	ADJ
globalce-260	92	8	scenes	scene	NOUN
globalce-260	92	9	is	be	AUX
globalce-260	92	10	a	a	DET
globalce-260	92	11	major	major	ADJ
globalce-260	92	12	tool	tool	NOUN
globalce-260	92	13	used	use	VERB
globalce-260	92	14	in	in	ADP
globalce-260	92	15	ar	ar	NOUN
globalce-260	92	16	systems	system	NOUN
globalce-260	92	17	in	in	ADP
globalce-260	92	18	medicine	medicine	NOUN
globalce-260	92	19	.	.	PUNCT
globalce-260	93	1	while	while	SCONJ
globalce-260	93	2	the	the	DET
globalce-260	93	3	surgeon	surgeon	NOUN
globalce-260	93	4	’s	’s	PART
globalce-260	93	5	working	working	NOUN
globalce-260	93	6	area	area	NOUN
globalce-260	93	7	is	be	AUX
globalce-260	93	8	synthesized	synthesize	VERB
globalce-260	93	9	in	in	ADP
globalce-260	93	10	the	the	DET
globalce-260	93	11	virtual	virtual	ADJ
globalce-260	93	12	environment	environment	NOUN
globalce-260	93	13	,	,	PUNCT
globalce-260	93	14	ar	ar	PROPN
globalce-260	93	15	superimposes	superimpose	NOUN
globalce-260	93	16	computer	computer	NOUN
globalce-260	93	17	-	-	PUNCT
globalce-260	93	18	generated	generate	VERB
globalce-260	93	19	images	image	NOUN
globalce-260	93	20	on	on	ADP
globalce-260	93	21	the	the	DET
globalce-260	93	22	actual	actual	ADJ
globalce-260	93	23	view	view	NOUN
globalce-260	93	24	oriented	orient	VERB
globalce-260	93	25	to	to	ADP
globalce-260	93	26	the	the	DET
globalce-260	93	27	direction	direction	NOUN
globalce-260	93	28	of	of	ADP
globalce-260	93	29	vision	vision	NOUN
globalce-260	93	30	of	of	ADP
globalce-260	93	31	the	the	DET
globalce-260	93	32	surgeon	surgeon	NOUN
globalce-260	93	33	,	,	PUNCT
globalce-260	93	34	who	who	PRON
globalce-260	93	35	usually	usually	ADV
globalce-260	93	36	wears	wear	VERB
globalce-260	93	37	a	a	DET
globalce-260	93	38	suitable	suitable	ADJ
globalce-260	93	39	hmd	hmd	NOUN
globalce-260	93	40	or	or	CCONJ
globalce-260	93	41	similar	similar	ADJ
globalce-260	93	42	instruments	instrument	NOUN
globalce-260	93	43	.	.	PUNCT
globalce-260	94	1	medical	medical	ADJ
globalce-260	94	2	ar	ar	PROPN
globalce-260	94	3	for	for	ADP
globalce-260	94	4	patient	patient	ADJ
globalce-260	94	5	workstation	workstation	NOUN
globalce-260	94	6	(	(	PUNCT
globalce-260	94	7	medarpa	medarpa	NOUN
globalce-260	94	8	)	)	PUNCT
globalce-260	94	9	has	have	AUX
globalce-260	94	10	recently	recently	ADV
globalce-260	94	11	been	be	AUX
globalce-260	94	12	developed28	developed28	NOUN
globalce-260	94	13	which	which	PRON
globalce-260	94	14	uses	use	VERB
globalce-260	94	15	ar	ar	PROPN
globalce-260	94	16	without	without	ADP
globalce-260	94	17	hmd	hmd	PROPN
globalce-260	94	18	.	.	PUNCT
globalce-260	95	1	the	the	DET
globalce-260	95	2	surgeon	surgeon	NOUN
globalce-260	95	3	can	can	AUX
globalce-260	95	4	see	see	VERB
globalce-260	95	5	the	the	DET
globalce-260	95	6	exact	exact	ADJ
globalce-260	95	7	location	location	NOUN
globalce-260	95	8	of	of	ADP
globalce-260	95	9	the	the	DET
globalce-260	95	10	damage	damage	NOUN
globalce-260	95	11	on	on	ADP
globalce-260	95	12	the	the	DET
globalce-260	95	13	patient	patient	NOUN
globalce-260	95	14	while	while	SCONJ
globalce-260	95	15	being	be	AUX
globalce-260	95	16	observed	observe	VERB
globalce-260	95	17	without	without	ADP
globalce-260	95	18	making	make	VERB
globalce-260	95	19	a	a	DET
globalce-260	95	20	single	single	ADJ
globalce-260	95	21	incision	incision	NOUN
globalce-260	95	22	.	.	PUNCT
globalce-260	96	1	it	it	PRON
globalce-260	96	2	is	be	AUX
globalce-260	96	3	possible	possible	ADJ
globalce-260	96	4	to	to	PART
globalce-260	96	5	design	design	VERB
globalce-260	96	6	invisible	invisible	ADJ
globalce-260	96	7	blood	blood	NOUN
globalce-260	96	8	vessels	vessel	NOUN
globalce-260	96	9	,	,	PUNCT
globalce-260	96	10	reducing	reduce	VERB
globalce-260	96	11	the	the	DET
globalce-260	96	12	risk	risk	NOUN
globalce-260	96	13	of	of	ADP
globalce-260	96	14	accidental	accidental	ADJ
globalce-260	96	15	damage	damage	NOUN
globalce-260	96	16	.	.	PUNCT
globalce-260	97	1	the	the	DET
globalce-260	97	2	improved	improved	ADJ
globalce-260	97	3	visualization	visualization	NOUN
globalce-260	97	4	from	from	ADP
globalce-260	97	5	this	this	DET
globalce-260	97	6	technology	technology	NOUN
globalce-260	97	7	can	can	AUX
globalce-260	97	8	benefit	benefit	VERB
globalce-260	97	9	a	a	DET
globalce-260	97	10	variety	variety	NOUN
globalce-260	97	11	of	of	ADP
globalce-260	97	12	clinical	clinical	ADJ
globalce-260	97	13	procedures	procedure	NOUN
globalce-260	97	14	.	.	PUNCT
globalce-260	98	1	ar	ar	PROPN
globalce-260	98	2	serves	serve	VERB
globalce-260	98	3	as	as	ADP
globalce-260	98	4	a	a	DET
globalce-260	98	5	guide	guide	NOUN
globalce-260	98	6	for	for	ADP
globalce-260	98	7	planning	plan	VERB
globalce-260	98	8	practical	practical	ADJ
globalce-260	98	9	surgical	surgical	ADJ
globalce-260	98	10	actions	action	NOUN
globalce-260	98	11	.	.	PUNCT
globalce-260	99	1	the	the	DET
globalce-260	99	2	patient	patient	NOUN
globalce-260	99	3	is	be	AUX
globalce-260	99	4	positioned	position	VERB
globalce-260	99	5	in	in	ADP
globalce-260	99	6	ar	ar	NOUN
globalce-260	99	7	:	:	PUNCT
globalce-260	99	8	with	with	ADP
globalce-260	99	9	the	the	DET
globalce-260	99	10	help	help	NOUN
globalce-260	99	11	of	of	ADP
globalce-260	99	12	ar	ar	PROPN
globalce-260	99	13	,	,	PUNCT
globalce-260	99	14	it	it	PRON
globalce-260	99	15	is	be	AUX
globalce-260	99	16	possible	possible	ADJ
globalce-260	99	17	to	to	PART
globalce-260	99	18	view	view	VERB
globalce-260	99	19	the	the	DET
globalce-260	99	20	entire	entire	ADJ
globalce-260	99	21	anatomy	anatomy	NOUN
globalce-260	99	22	and	and	CCONJ
globalce-260	99	23	change	change	VERB
globalce-260	99	24	the	the	DET
globalce-260	99	25	position	position	NOUN
globalce-260	99	26	of	of	ADP
globalce-260	99	27	the	the	DET
globalce-260	99	28	body	body	NOUN
globalce-260	99	29	along	along	ADP
globalce-260	99	30	the	the	DET
globalce-260	99	31	three	three	NUM
globalce-260	99	32	axes	axis	NOUN
globalce-260	99	33	.	.	PUNCT
globalce-260	100	1	ar	ar	PROPN
globalce-260	100	2	visualizes	visualize	VERB
globalce-260	100	3	the	the	DET
globalce-260	100	4	target	target	NOUN
globalce-260	100	5	of	of	ADP
globalce-260	100	6	the	the	DET
globalce-260	100	7	operation	operation	NOUN
globalce-260	100	8	before	before	SCONJ
globalce-260	100	9	it	it	PRON
globalce-260	100	10	is	be	AUX
globalce-260	100	11	visualized	visualize	VERB
globalce-260	100	12	on	on	ADP
globalce-260	100	13	the	the	DET
globalce-260	100	14	simulator	simulator	NOUN
globalce-260	100	15	.	.	PUNCT
globalce-260	101	1	some	some	PRON
globalce-260	101	2	of	of	ADP
globalce-260	101	3	their	their	PRON
globalce-260	101	4	weaknesses	weakness	NOUN
globalce-260	101	5	are	be	AUX
globalce-260	101	6	related	relate	VERB
globalce-260	101	7	to	to	ADP
globalce-260	101	8	the	the	DET
globalce-260	101	9	correct	correct	ADJ
globalce-260	101	10	alignment	alignment	NOUN
globalce-260	101	11	of	of	ADP
globalce-260	101	12	the	the	DET
globalce-260	101	13	position	position	NOUN
globalce-260	101	14	and	and	CCONJ
globalce-260	101	15	orientation	orientation	NOUN
globalce-260	101	16	of	of	ADP
globalce-260	101	17	the	the	DET
globalce-260	101	18	surgeon	surgeon	NOUN
globalce-260	101	19	’s	’s	PART
globalce-260	101	20	eyes	eye	NOUN
globalce-260	101	21	with	with	ADP
globalce-260	101	22	a	a	DET
globalce-260	101	23	virtual	virtual	ADJ
globalce-260	101	24	coordinate	coordinate	NOUN
globalce-260	101	25	system	system	NOUN
globalce-260	101	26	of	of	ADP
globalce-260	101	27	the	the	DET
globalce-260	101	28	augmented	augment	VERB
globalce-260	101	29	images	image	NOUN
globalce-260	101	30	,	,	PUNCT
globalce-260	101	31	the	the	DET
globalce-260	101	32	spatial	spatial	ADJ
globalce-260	101	33	tracking	tracking	NOUN
globalce-260	101	34	systems	system	NOUN
globalce-260	101	35	,	,	PUNCT
globalce-260	101	36	and	and	CCONJ
globalce-260	101	37	the	the	DET
globalce-260	101	38	virtual	virtual	ADJ
globalce-260	101	39	environment	environment	NOUN
globalce-260	101	40	peripherals	peripheral	NOUN
globalce-260	101	41	used	use	VERB
globalce-260	101	42	.	.	PUNCT
globalce-260	102	1	simulators	simulator	NOUN
globalce-260	102	2	combining	combine	VERB
globalce-260	102	3	haptic	haptic	ADJ
globalce-260	102	4	interfaces	interface	NOUN
globalce-260	102	5	with	with	ADP
globalce-260	102	6	ar	ar	NOUN
globalce-260	102	7	tools	tool	NOUN
globalce-260	102	8	can	can	AUX
globalce-260	102	9	be	be	AUX
globalce-260	102	10	used	use	VERB
globalce-260	102	11	to	to	PART
globalce-260	102	12	detect	detect	VERB
globalce-260	102	13	deviations	deviation	NOUN
globalce-260	102	14	between	between	ADP
globalce-260	102	15	the	the	DET
globalce-260	102	16	real	real	ADJ
globalce-260	102	17	position	position	NOUN
globalce-260	102	18	targeting	target	VERB
globalce-260	102	19	the	the	DET
globalce-260	102	20	military	military	ADJ
globalce-260	102	21	and	and	CCONJ
globalce-260	102	22	aerospace	aerospace	NOUN
globalce-260	102	23	industries	industry	NOUN
globalce-260	102	24	,	,	PUNCT
globalce-260	102	25	which	which	PRON
globalce-260	102	26	rely	rely	VERB
globalce-260	102	27	on	on	ADP
globalce-260	102	28	vr	vr	PROPN
globalce-260	102	29	for	for	ADP
globalce-260	102	30	training	training	NOUN
globalce-260	102	31	,	,	PUNCT
globalce-260	102	32	to	to	PART
globalce-260	102	33	apply	apply	VERB
globalce-260	102	34	this	this	DET
globalce-260	102	35	training	training	NOUN
globalce-260	102	36	to	to	PART
globalce-260	102	37	teach	teach	VERB
globalce-260	102	38	skills	skill	NOUN
globalce-260	102	39	in	in	ADP
globalce-260	102	40	operating	operate	VERB
globalce-260	102	41	rooms.16	rooms.16	PROPN
globalce-260	102	42	this	this	DET
globalce-260	102	43	simulator	simulator	NOUN
globalce-260	102	44	sets	set	VERB
globalce-260	102	45	the	the	DET
globalce-260	102	46	stage	stage	NOUN
globalce-260	102	47	for	for	ADP
globalce-260	102	48	vr	vr	NOUN
globalce-260	102	49	training	training	NOUN
globalce-260	102	50	in	in	ADP
globalce-260	102	51	surgery	surgery	NOUN
globalce-260	102	52	for	for	ADP
globalce-260	102	53	many	many	ADJ
globalce-260	102	54	types	type	NOUN
globalce-260	102	55	of	of	ADP
globalce-260	102	56	procedures	procedure	NOUN
globalce-260	102	57	,	,	PUNCT
globalce-260	102	58	from	from	ADP
globalce-260	102	59	elementary	elementary	ADJ
globalce-260	102	60	tasks	task	NOUN
globalce-260	102	61	such	such	ADJ
globalce-260	102	62	as	as	ADP
globalce-260	102	63	suturing	suture	VERB
globalce-260	102	64	and	and	CCONJ
globalce-260	102	65	knotting	knot	VERB
globalce-260	102	66	to	to	ADP
globalce-260	102	67	mimicking	mimic	VERB
globalce-260	102	68	entire	entire	ADJ
globalce-260	102	69	surgical	surgical	ADJ
globalce-260	102	70	procedures	procedure	NOUN
globalce-260	102	71	.	.	PUNCT
globalce-260	103	1	virtual	virtual	ADJ
globalce-260	103	2	-	-	PUNCT
globalce-260	103	3	based	base	VERB
globalce-260	103	4	simulators	simulator	NOUN
globalce-260	103	5	can	can	AUX
globalce-260	103	6	use	use	VERB
globalce-260	103	7	an	an	DET
globalce-260	103	8	application	application	NOUN
globalce-260	103	9	that	that	PRON
globalce-260	103	10	allows	allow	VERB
globalce-260	103	11	interactive	interactive	ADJ
globalce-260	103	12	exploration	exploration	NOUN
globalce-260	103	13	of	of	ADP
globalce-260	103	14	3d	3d	NUM
globalce-260	103	15	anatomical	anatomical	ADJ
globalce-260	103	16	models	model	NOUN
globalce-260	103	17	and	and	CCONJ
globalce-260	103	18	animations	animation	NOUN
globalce-260	103	19	.	.	PUNCT
globalce-260	104	1	vr	vr	PROPN
globalce-260	104	2	makes	make	VERB
globalce-260	104	3	it	it	PRON
globalce-260	104	4	possible	possible	ADJ
globalce-260	104	5	,	,	PUNCT
globalce-260	104	6	through	through	ADP
globalce-260	104	7	developed	develop	VERB
globalce-260	104	8	mobile	mobile	ADJ
globalce-260	104	9	applications	application	NOUN
globalce-260	104	10	,	,	PUNCT
globalce-260	104	11	to	to	PART
globalce-260	104	12	explore	explore	VERB
globalce-260	104	13	different	different	ADJ
globalce-260	104	14	surgical	surgical	ADJ
globalce-260	104	15	approaches	approach	NOUN
globalce-260	104	16	using	use	VERB
globalce-260	104	17	a	a	DET
globalce-260	104	18	smartphone	smartphone	NOUN
globalce-260	104	19	or	or	CCONJ
globalce-260	104	20	tablet	tablet	NOUN
globalce-260	104	21	.	.	PUNCT
globalce-260	105	1	each	each	DET
globalce-260	105	2	virtual	virtual	ADJ
globalce-260	105	3	study	study	NOUN
globalce-260	105	4	uses	use	VERB
globalce-260	105	5	3d	3d	PROPN
globalce-260	105	6	anatomical	anatomical	ADJ
globalce-260	105	7	models	model	NOUN
globalce-260	105	8	and	and	CCONJ
globalce-260	105	9	animations	animation	NOUN
globalce-260	105	10	.	.	PUNCT
globalce-260	106	1	a	a	DET
globalce-260	106	2	learning	learning	NOUN
globalce-260	106	3	system	system	NOUN
globalce-260	106	4	aimed	aim	VERB
globalce-260	106	5	at	at	ADP
globalce-260	106	6	understanding	understand	VERB
globalce-260	106	7	the	the	DET
globalce-260	106	8	patient	patient	NOUN
globalce-260	106	9	’s	’s	PART
globalce-260	106	10	positioning	positioning	NOUN
globalce-260	106	11	according	accord	VERB
globalce-260	106	12	to	to	ADP
globalce-260	106	13	specific	specific	ADJ
globalce-260	106	14	anatomy	anatomy	NOUN
globalce-260	106	15	and	and	CCONJ
globalce-260	106	16	specific	specific	ADJ
globalce-260	106	17	purpose	purpose	NOUN
globalce-260	106	18	.	.	PUNCT
globalce-260	107	1	the	the	DET
globalce-260	107	2	study	study	NOUN
globalce-260	107	3	of	of	ADP
globalce-260	107	4	each	each	DET
globalce-260	107	5	approach	approach	NOUN
globalce-260	107	6	in	in	ADP
globalce-260	107	7	3d	3d	PROPN
globalce-260	107	8	mode	mode	NOUN
globalce-260	107	9	can	can	AUX
globalce-260	107	10	be	be	AUX
globalce-260	107	11	divided	divide	VERB
globalce-260	107	12	into	into	ADP
globalce-260	107	13	phases	phase	NOUN
globalce-260	107	14	too	too	ADV
globalce-260	107	15	.	.	PUNCT
globalce-260	108	1	vr	vr	PROPN
globalce-260	108	2	simulators	simulator	NOUN
globalce-260	108	3	allow	allow	VERB
globalce-260	108	4	trainees	trainee	NOUN
globalce-260	108	5	to	to	PART
globalce-260	108	6	practice	practice	VERB
globalce-260	108	7	individual	individual	ADJ
globalce-260	108	8	movements	movement	NOUN
globalce-260	108	9	or	or	CCONJ
globalce-260	108	10	entire	entire	ADJ
globalce-260	108	11	procedures	procedure	NOUN
globalce-260	108	12	in	in	ADP
globalce-260	108	13	a	a	DET
globalce-260	108	14	near	near	ADJ
globalce-260	108	15	-	-	PUNCT
globalce-260	108	16	real	real	ADJ
globalce-260	108	17	environment	environment	NOUN
globalce-260	108	18	.	.	PUNCT
globalce-260	109	1	modern	modern	ADJ
globalce-260	109	2	vr	vr	PROPN
globalce-260	109	3	simulators	simulator	NOUN
globalce-260	109	4	can	can	AUX
globalce-260	109	5	reproduce	reproduce	VERB
globalce-260	109	6	complex	complex	ADJ
globalce-260	109	7	mis	mi	NOUN
globalce-260	109	8	by	by	ADP
globalce-260	109	9	measuring	measure	VERB
globalce-260	109	10	various	various	ADJ
globalce-260	109	11	parameters	parameter	NOUN
globalce-260	109	12	of	of	ADP
globalce-260	109	13	the	the	DET
globalce-260	109	14	procedure	procedure	NOUN
globalce-260	109	15	,	,	PUNCT
globalce-260	109	16	including	include	VERB
globalce-260	109	17	movement	movement	NOUN
globalce-260	109	18	efficiency	efficiency	NOUN
globalce-260	109	19	and	and	CCONJ
globalce-260	109	20	node	node	NOUN
globalce-260	109	21	reliability	reliability	NOUN
globalce-260	109	22	,	,	PUNCT
globalce-260	109	23	time	time	NOUN
globalce-260	109	24	to	to	PART
globalce-260	109	25	perform	perform	VERB
globalce-260	109	26	the	the	DET
globalce-260	109	27	operation	operation	NOUN
globalce-260	109	28	,	,	PUNCT
globalce-260	109	29	and	and	CCONJ
globalce-260	109	30	even	even	ADV
globalce-260	109	31	remote	remote	ADJ
globalce-260	109	32	performance	performance	NOUN
globalce-260	109	33	evaluation	evaluation	NOUN
globalce-260	109	34	.	.	PUNCT
globalce-260	110	1	the	the	DET
globalce-260	110	2	price	price	NOUN
globalce-260	110	3	of	of	ADP
globalce-260	110	4	simulators	simulator	NOUN
globalce-260	110	5	is	be	AUX
globalce-260	110	6	quite	quite	ADV
globalce-260	110	7	high	high	ADJ
globalce-260	110	8	,	,	PUNCT
globalce-260	110	9	and	and	CCONJ
globalce-260	110	10	they	they	PRON
globalce-260	110	11	do	do	AUX
globalce-260	110	12	not	not	PART
globalce-260	110	13	have	have	VERB
globalce-260	110	14	tactile	tactile	ADJ
globalce-260	110	15	feedback	feedback	NOUN
globalce-260	110	16	and	and	CCONJ
globalce-260	110	17	lack	lack	NOUN
globalce-260	110	18	realism.17–19	realism.17–19	NOUN
globalce-260	110	19	because	because	SCONJ
globalce-260	110	20	of	of	ADP
globalce-260	110	21	the	the	DET
globalce-260	110	22	lack	lack	NOUN
globalce-260	110	23	of	of	ADP
globalce-260	110	24	realism	realism	NOUN
globalce-260	110	25	,	,	PUNCT
globalce-260	110	26	the	the	DET
globalce-260	110	27	models	model	NOUN
globalce-260	110	28	of	of	ADP
globalce-260	110	29	corpses	corpse	NOUN
globalce-260	110	30	and	and	CCONJ
globalce-260	110	31	animals	animal	NOUN
globalce-260	110	32	in	in	ADP
globalce-260	110	33	vr	vr	PROPN
globalce-260	110	34	simulators	simulator	NOUN
globalce-260	110	35	should	should	AUX
globalce-260	110	36	be	be	AUX
globalce-260	110	37	added	add	VERB
globalce-260	110	38	to	to	PART
globalce-260	110	39	get	get	VERB
globalce-260	110	40	optimal	optimal	ADJ
globalce-260	110	41	training	training	NOUN
globalce-260	110	42	.	.	PUNCT
globalce-260	111	1	despite	despite	SCONJ
globalce-260	111	2	these	these	DET
globalce-260	111	3	disadvantages	disadvantage	NOUN
globalce-260	111	4	,	,	PUNCT
globalce-260	111	5	the	the	DET
globalce-260	111	6	number	number	NOUN
globalce-260	111	7	of	of	ADP
globalce-260	111	8	vr	vr	PROPN
globalce-260	111	9	training	training	NOUN
globalce-260	111	10	simulators	simulator	NOUN
globalce-260	111	11	is	be	AUX
globalce-260	111	12	growing	grow	VERB
globalce-260	111	13	.	.	PUNCT
globalce-260	112	1	vr	vr	PROPN
globalce-260	112	2	simulators	simulator	NOUN
globalce-260	112	3	,	,	PUNCT
globalce-260	112	4	such	such	ADJ
globalce-260	112	5	as	as	ADP
globalce-260	112	6	lapsimtm	lapsimtm	ADJ
globalce-260	112	7	(	(	PUNCT
globalce-260	112	8	surgical	surgical	ADJ
globalce-260	112	9	science	science	NOUN
globalce-260	112	10	,	,	PUNCT
globalce-260	112	11	gothenburg	gothenburg	PROPN
globalce-260	112	12	,	,	PUNCT
globalce-260	112	13	sweden),20	sweden),20	NOUN
globalce-260	112	14	were	be	AUX
globalce-260	112	15	used	use	VERB
globalce-260	112	16	for	for	ADP
globalce-260	112	17	training	train	VERB
globalce-260	112	18	basic	basic	ADJ
globalce-260	112	19	laparoscopic	laparoscopic	NOUN
globalce-260	112	20	surgery	surgery	NOUN
globalce-260	112	21	skills	skill	NOUN
globalce-260	112	22	,	,	PUNCT
globalce-260	112	23	and	and	CCONJ
globalce-260	112	24	lapmentortm	lapmentortm	X
globalce-260	112	25	(	(	PUNCT
globalce-260	112	26	simbionix	simbionix	NOUN
globalce-260	112	27	corporation	corporation	PROPN
globalce-260	112	28	,	,	PUNCT
globalce-260	112	29	cleveland	cleveland	PROPN
globalce-260	112	30	,	,	PUNCT
globalce-260	112	31	oh	oh	INTJ
globalce-260	112	32	,	,	PUNCT
globalce-260	112	33	usa),21	usa),21	PROPN
globalce-260	112	34	was	be	AUX
globalce-260	112	35	used	use	VERB
globalce-260	112	36	for	for	ADP
globalce-260	112	37	comprehensive	comprehensive	ADJ
globalce-260	112	38	training	training	NOUN
globalce-260	112	39	in	in	ADP
globalce-260	112	40	laparoscopic	laparoscopic	ADJ
globalce-260	112	41	sigmoidoscopy	sigmoidoscopy	NOUN
globalce-260	112	42	.	.	PUNCT
globalce-260	113	1	wynn	wynn	PROPN
globalce-260	113	2	et	et	PROPN
globalce-260	113	3	al	al	PROPN
globalce-260	113	4	.	.	PROPN
globalce-260	113	5	evaluated	evaluate	VERB
globalce-260	113	6	the	the	DET
globalce-260	113	7	effectiveness	effectiveness	NOUN
globalce-260	113	8	of	of	ADP
globalce-260	113	9	this	this	DET
globalce-260	113	10	training	training	NOUN
globalce-260	113	11	in	in	ADP
globalce-260	113	12	terms	term	NOUN
globalce-260	113	13	of	of	ADP
globalce-260	113	14	the	the	DET
globalce-260	113	15	completion	completion	NOUN
globalce-260	113	16	time	time	NOUN
globalce-260	113	17	of	of	ADP
globalce-260	113	18	the	the	DET
globalce-260	113	19	process	process	NOUN
globalce-260	113	20	,	,	PUNCT
globalce-260	113	21	the	the	DET
globalce-260	113	22	number	number	NOUN
globalce-260	113	23	of	of	ADP
globalce-260	113	24	right	right	NOUN
globalce-260	113	25	and	and	CCONJ
globalce-260	113	26	left	leave	VERB
globalce-260	113	27	tool	tool	NOUN
globalce-260	113	28	movements	movement	NOUN
globalce-260	113	29	,	,	PUNCT
globalce-260	113	30	and	and	CCONJ
globalce-260	113	31	the	the	DET
globalce-260	113	32	total	total	ADJ
globalce-260	113	33	route	route	NOUN
globalce-260	113	34	length	length	NOUN
globalce-260	113	35	of	of	ADP
globalce-260	113	36	the	the	DET
globalce-260	113	37	right	right	NOUN
globalce-260	113	38	and	and	CCONJ
globalce-260	113	39	left	leave	VERB
globalce-260	113	40	tool	tool	NOUN
globalce-260	113	41	movements.22	movements.22	VERB
globalce-260	113	42	the	the	DET
globalce-260	113	43	research	research	NOUN
globalce-260	113	44	indicates	indicate	VERB
globalce-260	113	45	high	high	ADJ
globalce-260	113	46	efficiency	efficiency	NOUN
globalce-260	113	47	.	.	PUNCT
globalce-260	114	1	surgical	surgical	ADJ
globalce-260	114	2	simulation	simulation	NOUN
globalce-260	114	3	combined	combine	VERB
globalce-260	114	4	with	with	ADP
globalce-260	114	5	virtual	virtual	ADJ
globalce-260	114	6	,	,	PUNCT
globalce-260	114	7	mixed	mixed	ADJ
globalce-260	114	8	,	,	PUNCT
globalce-260	114	9	and	and	CCONJ
globalce-260	114	10	ar	ar	NOUN
globalce-260	114	11	has	have	AUX
globalce-260	114	12	become	become	VERB
globalce-260	114	13	increasingly	increasingly	ADV
globalce-260	114	14	popular	popular	ADJ
globalce-260	114	15	in	in	ADP
globalce-260	114	16	recent	recent	ADJ
globalce-260	114	17	years	year	NOUN
globalce-260	114	18	.	.	PUNCT
globalce-260	115	1	ar	ar	PROPN
globalce-260	115	2	is	be	AUX
globalce-260	115	3	a	a	DET
globalce-260	115	4	technology	technology	NOUN
globalce-260	115	5	where	where	SCONJ
globalce-260	115	6	digital	digital	ADJ
globalce-260	115	7	information	information	NOUN
globalce-260	115	8	does	do	AUX
globalce-260	115	9	not	not	PART
globalce-260	115	10	interact	interact	VERB
globalce-260	115	11	with	with	ADP
globalce-260	115	12	the	the	DET
globalce-260	115	13	real	real	ADJ
globalce-260	115	14	environment	environment	NOUN
globalce-260	115	15	but	but	CCONJ
globalce-260	115	16	is	be	AUX
globalce-260	115	17	superimposed	superimpose	VERB
globalce-260	115	18	on	on	ADP
globalce-260	115	19	the	the	DET
globalce-260	115	20	user	user	NOUN
globalce-260	115	21	’s	’s	PART
globalce-260	115	22	view	view	NOUN
globalce-260	115	23	of	of	ADP
globalce-260	115	24	the	the	DET
globalce-260	115	25	external	external	ADJ
globalce-260	115	26	environment	environment	NOUN
globalce-260	115	27	as	as	ADP
globalce-260	115	28	graphics	graphic	NOUN
globalce-260	115	29	,	,	PUNCT
globalce-260	115	30	audio	audio	NOUN
globalce-260	115	31	,	,	PUNCT
globalce-260	115	32	or	or	CCONJ
globalce-260	115	33	video	video	NOUN
globalce-260	115	34	information.23	information.23	PROPN
globalce-260	115	35	ivanova	ivanova	PROPN
globalce-260	115	36	,	,	PUNCT
globalce-260	115	37	vasilev	vasilev	NOUN
globalce-260	115	38	,	,	PUNCT
globalce-260	115	39	boneva	boneva	ADV
globalce-260	115	40	:	:	PUNCT
globalce-260	115	41	training	training	NOUN
globalce-260	115	42	of	of	ADP
globalce-260	115	43	surgical	surgical	ADJ
globalce-260	115	44	skills	skill	NOUN
globalce-260	115	45	by	by	ADP
globalce-260	115	46	a	a	DET
globalce-260	115	47	3d	3d	NUM
globalce-260	115	48	augmented	augment	VERB
globalce-260	115	49	liver	liver	NOUN
globalce-260	115	50	model	model	NOUN
globalce-260	115	51	response	response	NOUN
globalce-260	115	52	during	during	ADP
globalce-260	115	53	instrument	instrument	NOUN
globalce-260	115	54	interactions	interaction	NOUN
globalce-260	115	55	simulation	simulation	NOUN
globalce-260	115	56	j	j	PROPN
globalce-260	115	57	global	global	ADJ
globalce-260	115	58	clinical	clinical	ADJ
globalce-260	115	59	engineering	engineering	NOUN
globalce-260	115	60	vol.7	vol.7	PROPN
globalce-260	115	61	issue	issue	NOUN
globalce-260	115	62	3	3	NUM
globalce-260	115	63	:	:	SYM
globalce-260	115	64	2025	2025	NUM
globalce-260	115	65	92	92	NUM
globalce-260	115	66	and	and	CCONJ
globalce-260	115	67	the	the	DET
globalce-260	115	68	preoperative	preoperative	ADJ
globalce-260	115	69	plan	plan	NOUN
globalce-260	115	70	and	and	CCONJ
globalce-260	115	71	to	to	PART
globalce-260	115	72	generate	generate	VERB
globalce-260	115	73	guiding	guide	VERB
globalce-260	115	74	forces	force	NOUN
globalce-260	115	75	for	for	ADP
globalce-260	115	76	the	the	DET
globalce-260	115	77	surgeon	surgeon	NOUN
globalce-260	115	78	.	.	PUNCT
globalce-260	116	1	robot	robot	NOUN
globalce-260	116	2	-	-	PUNCT
globalce-260	116	3	guided	guide	VERB
globalce-260	116	4	instruments	instrument	NOUN
globalce-260	116	5	follow	follow	VERB
globalce-260	116	6	the	the	DET
globalce-260	116	7	movement	movement	NOUN
globalce-260	116	8	of	of	ADP
globalce-260	116	9	the	the	DET
globalce-260	116	10	surgeon	surgeon	NOUN
globalce-260	116	11	,	,	PUNCT
globalce-260	116	12	who	who	PRON
globalce-260	116	13	senses	sense	VERB
globalce-260	116	14	forces	force	NOUN
globalce-260	116	15	interacting	interact	VERB
globalce-260	116	16	with	with	ADP
globalce-260	116	17	the	the	DET
globalce-260	116	18	tissue	tissue	NOUN
globalce-260	116	19	through	through	ADP
globalce-260	116	20	the	the	DET
globalce-260	116	21	haptic	haptic	ADJ
globalce-260	116	22	device	device	NOUN
globalce-260	116	23	.	.	PUNCT
globalce-260	117	1	the	the	DET
globalce-260	117	2	haptic	haptic	ADJ
globalce-260	117	3	device	device	NOUN
globalce-260	117	4	includes	include	VERB
globalce-260	117	5	preoperative	preoperative	ADJ
globalce-260	117	6	planning	planning	NOUN
globalce-260	117	7	based	base	VERB
globalce-260	117	8	on	on	ADP
globalce-260	117	9	medical	medical	ADJ
globalce-260	117	10	images	image	NOUN
globalce-260	117	11	and	and	CCONJ
globalce-260	117	12	ar	ar	NOUN
globalce-260	117	13	to	to	PART
globalce-260	117	14	guide	guide	VERB
globalce-260	117	15	the	the	DET
globalce-260	117	16	surgeon	surgeon	NOUN
globalce-260	117	17	’s	’s	PART
globalce-260	117	18	movements	movement	NOUN
globalce-260	117	19	;	;	PUNCT
globalce-260	117	20	ar	ar	NOUN
globalce-260	117	21	models	model	NOUN
globalce-260	117	22	also	also	ADV
globalce-260	117	23	provide	provide	VERB
globalce-260	117	24	visual	visual	ADJ
globalce-260	117	25	feedback	feedback	NOUN
globalce-260	117	26	to	to	ADP
globalce-260	117	27	the	the	DET
globalce-260	117	28	surgeon	surgeon	NOUN
globalce-260	117	29	.	.	PUNCT
globalce-260	118	1	the	the	DET
globalce-260	118	2	advantage	advantage	NOUN
globalce-260	118	3	given	give	VERB
globalce-260	118	4	by	by	ADP
globalce-260	118	5	the	the	DET
globalce-260	118	6	simulation	simulation	NOUN
globalce-260	118	7	is	be	AUX
globalce-260	118	8	that	that	SCONJ
globalce-260	118	9	different	different	ADJ
globalce-260	118	10	parameters	parameter	NOUN
globalce-260	118	11	can	can	AUX
globalce-260	118	12	be	be	AUX
globalce-260	118	13	optimized	optimize	VERB
globalce-260	118	14	,	,	PUNCT
globalce-260	118	15	which	which	PRON
globalce-260	118	16	gives	give	VERB
globalce-260	118	17	good	good	ADJ
globalce-260	118	18	results	result	NOUN
globalce-260	118	19	in	in	ADP
globalce-260	118	20	different	different	ADJ
globalce-260	118	21	areas	area	NOUN
globalce-260	118	22	of	of	ADP
globalce-260	118	23	application.29	application.29	NOUN
globalce-260	118	24	from	from	ADP
globalce-260	118	25	the	the	DET
globalce-260	118	26	foregoing	foregoing	NOUN
globalce-260	118	27	,	,	PUNCT
globalce-260	118	28	it	it	PRON
globalce-260	118	29	is	be	AUX
globalce-260	118	30	clear	clear	ADJ
globalce-260	118	31	that	that	SCONJ
globalce-260	118	32	the	the	DET
globalce-260	118	33	high	high	ADJ
globalce-260	118	34	level	level	NOUN
globalce-260	118	35	of	of	ADP
globalce-260	118	36	technical	technical	ADJ
globalce-260	118	37	complexity	complexity	NOUN
globalce-260	118	38	of	of	ADP
globalce-260	118	39	advanced	advanced	ADJ
globalce-260	118	40	laparoscopic	laparoscopic	NOUN
globalce-260	118	41	procedures	procedure	NOUN
globalce-260	118	42	and	and	CCONJ
globalce-260	118	43	the	the	DET
globalce-260	118	44	lengthy	lengthy	ADJ
globalce-260	118	45	training	training	NOUN
globalce-260	118	46	pose	pose	VERB
globalce-260	118	47	many	many	ADJ
globalce-260	118	48	challenges	challenge	NOUN
globalce-260	118	49	to	to	ADP
globalce-260	118	50	surgeons	surgeon	NOUN
globalce-260	118	51	.	.	PUNCT
globalce-260	119	1	this	this	PRON
globalce-260	119	2	makes	make	VERB
globalce-260	119	3	simulation	simulation	NOUN
globalce-260	119	4	an	an	DET
globalce-260	119	5	important	important	ADJ
globalce-260	119	6	tool	tool	NOUN
globalce-260	119	7	in	in	ADP
globalce-260	119	8	the	the	DET
globalce-260	119	9	training	training	NOUN
globalce-260	119	10	of	of	ADP
globalce-260	119	11	complex	complex	ADJ
globalce-260	119	12	laparoscopic	laparoscopic	NOUN
globalce-260	119	13	surgery	surgery	NOUN
globalce-260	119	14	.	.	PUNCT
globalce-260	120	1	that	that	PRON
globalce-260	120	2	is	be	AUX
globalce-260	120	3	why	why	SCONJ
globalce-260	120	4	our	our	PRON
globalce-260	120	5	efforts	effort	NOUN
globalce-260	120	6	are	be	AUX
globalce-260	120	7	directed	direct	VERB
globalce-260	120	8	in	in	ADP
globalce-260	120	9	this	this	DET
globalce-260	120	10	direction	direction	NOUN
globalce-260	120	11	.	.	PUNCT
globalce-260	121	1	this	this	DET
globalce-260	121	2	paper	paper	NOUN
globalce-260	121	3	is	be	AUX
globalce-260	121	4	organized	organize	VERB
globalce-260	121	5	into	into	ADP
globalce-260	121	6	the	the	DET
globalce-260	121	7	following	follow	VERB
globalce-260	121	8	sections	section	NOUN
globalce-260	121	9	:	:	PUNCT
globalce-260	121	10	section	section	NOUN
globalce-260	121	11	2	2	NUM
globalce-260	121	12	is	be	AUX
globalce-260	121	13	referred	refer	VERB
globalce-260	121	14	to	to	ADP
globalce-260	121	15	as	as	ADP
globalce-260	121	16	the	the	DET
globalce-260	121	17	investigation	investigation	NOUN
globalce-260	121	18	of	of	ADP
globalce-260	121	19	instrument	instrument	NOUN
globalce-260	121	20	moving	move	VERB
globalce-260	121	21	.	.	PUNCT
globalce-260	122	1	section	section	NOUN
globalce-260	122	2	3	3	NUM
globalce-260	122	3	marks	mark	NOUN
globalce-260	122	4	architectures	architecture	NOUN
globalce-260	122	5	of	of	ADP
globalce-260	122	6	control	control	NOUN
globalce-260	122	7	program	program	NOUN
globalce-260	122	8	algorithms	algorithm	NOUN
globalce-260	122	9	.	.	PUNCT
globalce-260	123	1	section	section	NOUN
globalce-260	123	2	4	4	NUM
globalce-260	123	3	refers	refer	VERB
globalce-260	123	4	to	to	ADP
globalce-260	123	5	a	a	DET
globalce-260	123	6	simulating	simulate	VERB
globalce-260	123	7	approach	approach	NOUN
globalce-260	123	8	of	of	ADP
globalce-260	123	9	liver	liver	NOUN
globalce-260	123	10	model	model	NOUN
globalce-260	123	11	response	response	NOUN
globalce-260	123	12	during	during	ADP
globalce-260	123	13	tactile	tactile	ADJ
globalce-260	123	14	instrument	instrument	NOUN
globalce-260	123	15	interactions	interaction	NOUN
globalce-260	123	16	and	and	CCONJ
globalce-260	123	17	its	its	PRON
globalce-260	123	18	results	result	NOUN
globalce-260	123	19	.	.	PUNCT
globalce-260	124	1	at	at	ADP
globalce-260	124	2	the	the	DET
globalce-260	124	3	end	end	NOUN
globalce-260	124	4	,	,	PUNCT
globalce-260	124	5	there	there	PRON
globalce-260	124	6	are	be	VERB
globalce-260	124	7	sections	section	NOUN
globalce-260	124	8	on	on	ADP
globalce-260	124	9	future	future	ADJ
globalce-260	124	10	challenges	challenge	NOUN
globalce-260	124	11	and	and	CCONJ
globalce-260	124	12	conclusions	conclusion	NOUN
globalce-260	124	13	.	.	PUNCT
globalce-260	125	1	software	software	NOUN
globalce-260	125	2	applications	application	NOUN
globalce-260	125	3	offer	offer	VERB
globalce-260	125	4	innovative	innovative	ADJ
globalce-260	125	5	solutions	solution	NOUN
globalce-260	125	6	in	in	ADP
globalce-260	125	7	all	all	DET
globalce-260	125	8	spheres	sphere	NOUN
globalce-260	125	9	of	of	ADP
globalce-260	125	10	human	human	ADJ
globalce-260	125	11	life,30,31	life,30,31	VERB
globalce-260	125	12	the	the	DET
globalce-260	125	13	most	most	ADV
globalce-260	125	14	significant	significant	ADJ
globalce-260	125	15	of	of	ADP
globalce-260	125	16	which	which	PRON
globalce-260	125	17	are	be	AUX
globalce-260	125	18	in	in	ADP
globalce-260	125	19	medicine	medicine	NOUN
globalce-260	125	20	.	.	PUNCT
globalce-260	126	1	for	for	ADP
globalce-260	126	2	this	this	DET
globalce-260	126	3	work	work	NOUN
globalce-260	126	4	,	,	PUNCT
globalce-260	126	5	some	some	DET
globalce-260	126	6	calculating	calculate	VERB
globalce-260	126	7	methods32	methods32	NOUN
globalce-260	126	8	for	for	ADP
globalce-260	126	9	identifying	identify	VERB
globalce-260	126	10	both	both	DET
globalce-260	126	11	tool	tool	NOUN
globalce-260	126	12	tissue	tissue	NOUN
globalce-260	126	13	force	force	NOUN
globalce-260	126	14	and	and	CCONJ
globalce-260	126	15	maximum	maximum	ADJ
globalce-260	126	16	local	local	ADJ
globalce-260	126	17	strength	strength	NOUN
globalce-260	126	18	are	be	AUX
globalce-260	126	19	touched	touch	VERB
globalce-260	126	20	upon	upon	SCONJ
globalce-260	126	21	.	.	PUNCT
globalce-260	127	1	authors	author	NOUN
globalce-260	127	2	will	will	AUX
globalce-260	127	3	specifically	specifically	ADV
globalce-260	127	4	try	try	VERB
globalce-260	127	5	to	to	PART
globalce-260	127	6	investigate	investigate	VERB
globalce-260	127	7	these	these	PRON
globalce-260	127	8	in	in	ADP
globalce-260	127	9	the	the	DET
globalce-260	127	10	future	future	NOUN
globalce-260	127	11	.	.	PUNCT
globalce-260	128	1	a	a	DET
globalce-260	128	2	contemporary	contemporary	ADJ
globalce-260	128	3	strategy	strategy	NOUN
globalce-260	128	4	yielding	yield	VERB
globalce-260	128	5	favorable	favorable	ADJ
globalce-260	128	6	outcomes	outcome	NOUN
globalce-260	128	7	involves	involve	VERB
globalce-260	128	8	the	the	DET
globalce-260	128	9	enhancement	enhancement	NOUN
globalce-260	128	10	of	of	ADP
globalce-260	128	11	existing	exist	VERB
globalce-260	128	12	systems	system	NOUN
globalce-260	128	13	across	across	ADP
globalce-260	128	14	various	various	ADJ
globalce-260	128	15	domains	domain	NOUN
globalce-260	128	16	and	and	CCONJ
globalce-260	128	17	purposes	purpose	NOUN
globalce-260	128	18	,	,	PUNCT
globalce-260	128	19	thereby	thereby	ADV
globalce-260	128	20	conserving	conserve	VERB
globalce-260	128	21	both	both	CCONJ
globalce-260	128	22	financial	financial	ADJ
globalce-260	128	23	and	and	CCONJ
globalce-260	128	24	temporal	temporal	ADJ
globalce-260	128	25	resources	resource	NOUN
globalce-260	128	26	in	in	ADP
globalce-260	128	27	the	the	DET
globalce-260	128	28	research	research	NOUN
globalce-260	128	29	and	and	CCONJ
globalce-260	128	30	development	development	NOUN
globalce-260	128	31	of	of	ADP
globalce-260	128	32	new	new	ADJ
globalce-260	128	33	systems	system	NOUN
globalce-260	128	34	.	.	PUNCT
globalce-260	129	1	an	an	DET
globalce-260	129	2	illustrative	illustrative	ADJ
globalce-260	129	3	example	example	NOUN
globalce-260	129	4	is	be	AUX
globalce-260	129	5	provided	provide	VERB
globalce-260	129	6	in	in	ADP
globalce-260	129	7	reference,33	reference,33	NOUN
globalce-260	129	8	which	which	PRON
globalce-260	129	9	outlines	outline	VERB
globalce-260	129	10	the	the	DET
globalce-260	129	11	primary	primary	ADJ
globalce-260	129	12	procedures	procedure	NOUN
globalce-260	129	13	for	for	ADP
globalce-260	129	14	upgrading	upgrade	VERB
globalce-260	129	15	existing	exist	VERB
globalce-260	129	16	systems	system	NOUN
globalce-260	129	17	for	for	ADP
globalce-260	129	18	the	the	DET
globalce-260	129	19	automation	automation	NOUN
globalce-260	129	20	and	and	CCONJ
globalce-260	129	21	control	control	NOUN
globalce-260	129	22	of	of	ADP
globalce-260	129	23	industrial	industrial	ADJ
globalce-260	129	24	and	and	CCONJ
globalce-260	129	25	manufacturing	manufacturing	NOUN
globalce-260	129	26	processes	process	NOUN
globalce-260	129	27	.	.	PUNCT
globalce-260	130	1	in	in	ADP
globalce-260	130	2	alignment	alignment	NOUN
globalce-260	130	3	with	with	ADP
globalce-260	130	4	this	this	DET
globalce-260	130	5	approach	approach	NOUN
globalce-260	130	6	,	,	PUNCT
globalce-260	130	7	it	it	PRON
globalce-260	130	8	proposes	propose	VERB
globalce-260	130	9	to	to	PART
globalce-260	130	10	upgrade	upgrade	VERB
globalce-260	130	11	a	a	DET
globalce-260	130	12	laparoscopic	laparoscopic	NOUN
globalce-260	130	13	execution	execution	NOUN
globalce-260	130	14	tool	tool	NOUN
globalce-260	130	15	system	system	NOUN
globalce-260	130	16	for	for	ADP
globalce-260	130	17	robotic	robotic	ADJ
globalce-260	130	18	applications	application	NOUN
globalce-260	130	19	,	,	PUNCT
globalce-260	130	20	incorporating	incorporate	VERB
globalce-260	130	21	functionalities	functionality	NOUN
globalce-260	130	22	that	that	SCONJ
globalce-260	130	23	leverage	leverage	NOUN
globalce-260	130	24	ar	ar	PROPN
globalce-260	130	25	and	and	CCONJ
globalce-260	130	26	simulation	simulation	NOUN
globalce-260	130	27	technologies	technology	NOUN
globalce-260	130	28	to	to	PART
globalce-260	130	29	facilitate	facilitate	VERB
globalce-260	130	30	the	the	DET
globalce-260	130	31	training	training	NOUN
globalce-260	130	32	of	of	ADP
globalce-260	130	33	surgeons	surgeon	NOUN
globalce-260	130	34	.	.	PUNCT
globalce-260	131	1	investigation	investigation	NOUN
globalce-260	131	2	of	of	ADP
globalce-260	131	3	instrument	instrument	NOUN
globalce-260	131	4	moving	move	VERB
globalce-260	131	5	the	the	DET
globalce-260	131	6	action	action	NOUN
globalce-260	131	7	control	control	NOUN
globalce-260	131	8	in	in	ADP
globalce-260	131	9	telecontrol	telecontrol	NOUN
globalce-260	131	10	(	(	PUNCT
globalce-260	131	11	by	by	ADP
globalce-260	131	12	the	the	DET
globalce-260	131	13	leading	lead	VERB
globalce-260	131	14	physician	physician	NOUN
globalce-260	131	15	of	of	ADP
globalce-260	131	16	the	the	DET
globalce-260	131	17	operation	operation	NOUN
globalce-260	131	18	)	)	PUNCT
globalce-260	131	19	is	be	AUX
globalce-260	131	20	realized	realize	VERB
globalce-260	131	21	by	by	ADP
globalce-260	131	22	the	the	DET
globalce-260	131	23	direct	direct	ADJ
globalce-260	131	24	kinematic	kinematic	PROPN
globalce-260	131	25	task	task	NOUN
globalce-260	131	26	.	.	PUNCT
globalce-260	132	1	moreover	moreover	ADV
globalce-260	132	2	,	,	PUNCT
globalce-260	132	3	to	to	PART
globalce-260	132	4	refine	refine	VERB
globalce-260	132	5	the	the	DET
globalce-260	132	6	action	action	NOUN
globalce-260	132	7	,	,	PUNCT
globalce-260	132	8	the	the	DET
globalce-260	132	9	systematic	systematic	ADJ
globalce-260	132	10	positional	positional	ADJ
globalce-260	132	11	error	error	NOUN
globalce-260	132	12	in	in	ADP
globalce-260	132	13	the	the	DET
globalce-260	132	14	working	work	VERB
globalce-260	132	15	position	position	NOUN
globalce-260	132	16	can	can	AUX
globalce-260	132	17	be	be	AUX
globalce-260	132	18	introduced	introduce	VERB
globalce-260	132	19	into	into	ADP
globalce-260	132	20	the	the	DET
globalce-260	132	21	control	control	NOUN
globalce-260	132	22	links	link	NOUN
globalce-260	132	23	.	.	PUNCT
globalce-260	133	1	solving	solve	VERB
globalce-260	133	2	the	the	DET
globalce-260	133	3	straight	straight	ADJ
globalce-260	133	4	kinematic	kinematic	ADJ
globalce-260	133	5	problem	problem	NOUN
globalce-260	133	6	is	be	AUX
globalce-260	133	7	a	a	DET
globalce-260	133	8	standard	standard	ADJ
globalce-260	133	9	procedure.34	procedure.34	NOUN
globalce-260	133	10	it	it	PRON
globalce-260	133	11	is	be	AUX
globalce-260	133	12	possible	possible	ADJ
globalce-260	133	13	to	to	PART
globalce-260	133	14	develop	develop	VERB
globalce-260	133	15	a	a	DET
globalce-260	133	16	simulation	simulation	NOUN
globalce-260	133	17	program	program	NOUN
globalce-260	133	18	to	to	PART
globalce-260	133	19	outline	outline	VERB
globalce-260	133	20	the	the	DET
globalce-260	133	21	workspace	workspace	NOUN
globalce-260	133	22	and	and	CCONJ
globalce-260	133	23	possible	possible	ADJ
globalce-260	133	24	actions	action	NOUN
globalce-260	133	25	in	in	ADP
globalce-260	133	26	it	it	PRON
globalce-260	133	27	.	.	PUNCT
globalce-260	134	1	for	for	ADP
globalce-260	134	2	an	an	DET
globalce-260	134	3	instrument	instrument	NOUN
globalce-260	134	4	with	with	ADP
globalce-260	134	5	four	four	NUM
globalce-260	134	6	independent	independent	ADJ
globalce-260	134	7	movements	movement	NOUN
globalce-260	134	8	,	,	PUNCT
globalce-260	134	9	these	these	DET
globalce-260	134	10	movements	movement	NOUN
globalce-260	134	11	are	be	AUX
globalce-260	134	12	obtained	obtain	VERB
globalce-260	134	13	by	by	ADP
globalce-260	134	14	four	four	NUM
globalce-260	134	15	motors	motor	NOUN
globalce-260	134	16	and	and	CCONJ
globalce-260	134	17	the	the	DET
globalce-260	134	18	corresponding	correspond	VERB
globalce-260	134	19	transmission	transmission	NOUN
globalce-260	134	20	mechanisms	mechanism	NOUN
globalce-260	134	21	between	between	ADP
globalce-260	134	22	the	the	DET
globalce-260	134	23	motors	motor	NOUN
globalce-260	134	24	and	and	CCONJ
globalce-260	134	25	the	the	DET
globalce-260	134	26	executive	executive	ADJ
globalce-260	134	27	links	link	NOUN
globalce-260	134	28	in	in	ADP
globalce-260	134	29	this	this	DET
globalce-260	134	30	space	space	NOUN
globalce-260	134	31	.	.	PUNCT
globalce-260	135	1	figure	figure	NOUN
globalce-260	135	2	1	1	NUM
globalce-260	135	3	shows	show	VERB
globalce-260	135	4	the	the	DET
globalce-260	135	5	possible	possible	ADJ
globalce-260	135	6	instrument	instrument	NOUN
globalce-260	135	7	workspace	workspace	NOUN
globalce-260	135	8	and	and	CCONJ
globalce-260	135	9	the	the	DET
globalce-260	135	10	instrument	instrument	NOUN
globalce-260	135	11	motions	motion	NOUN
globalce-260	135	12	in	in	ADP
globalce-260	135	13	this	this	DET
globalce-260	135	14	workspace	workspace	NOUN
globalce-260	135	15	.	.	PUNCT
globalce-260	136	1	the	the	DET
globalce-260	136	2	relation	relation	NOUN
globalce-260	136	3	can	can	AUX
globalce-260	136	4	be	be	AUX
globalce-260	136	5	written	write	VERB
globalce-260	136	6	in	in	ADP
globalce-260	136	7	equation	equation	NOUN
globalce-260	136	8	1	1	NUM
globalce-260	136	9	:	:	SYM
globalce-260	136	10	1	1	NUM
globalce-260	136	11	1	1	NUM
globalce-260	136	12	11	11	NUM
globalce-260	136	13	2	2	NUM
globalce-260	136	14	2	2	NUM
globalce-260	136	15	2	2	NUM
globalce-260	136	16	2	2	NUM
globalce-260	136	17	2	2	NUM
globalce-260	136	18	3	3	NUM
globalce-260	136	19	4	4	NUM
globalce-260	136	20	2	2	NUM
globalce-260	136	21	3	3	NUM
globalce-260	136	22	3	3	NUM
globalce-260	136	23	3	3	NUM
globalce-260	136	24	3	3	NUM
globalce-260	136	25	4	4	NUM
globalce-260	136	26	4	4	NUM
globalce-260	136	27	4	4	NUM
globalce-260	136	28	4	4	NUM
globalce-260	136	29	.	.	PUNCT
globalce-260	136	30	0	0	NUM
globalce-260	137	1	0	0	NUM
globalce-260	137	2	0	0	NUM
globalce-260	137	3	.	.	PUNCT
globalce-260	137	4	.	.	PUNCT
globalce-260	137	5	0	0	PUNCT
globalce-260	138	1	*	*	PUNCT
globalce-260	138	2	.	.	PUNCT
globalce-260	139	1	.0	.0	NUM
globalce-260	139	2	0	0	NUM
globalce-260	139	3	0	0	NUM
globalce-260	139	4	.	.	PUNCT
globalce-260	140	1	.0	.0	NUM
globalce-260	140	2	0	0	NUM
globalce-260	140	3	0	0	NUM
globalce-260	141	1	qq	qq	NOUN
globalce-260	141	2	q	q	X
globalce-260	141	3	q	q	X
globalce-260	141	4	q	q	X
globalce-260	141	5	q	q	X
globalce-260	141	6	q	q	X
globalce-260	141	7	q	q	X
globalce-260	141	8	q	q	X
globalce-260	141	9	q	q	X
globalce-260	141	10	ϕϕ	ϕϕ	PROPN
globalce-260	141	11	ϕ	ϕ	X
globalce-260	141	12	ϕ	ϕ	X
globalce-260	141	13	ϕ	ϕ	X
globalce-260	141	14	ϕ	ϕ	X
globalce-260	141	15	ϕ	ϕ	X
globalce-260	141	16	ϕ	ϕ	X
globalce-260	141	17	ϕ	ϕ	X
globalce-260	141	18	ϕ	ϕ	PROPN
globalce-260	141	19			PROPN
globalce-260	141	20	∂	∂	NUM
globalce-260	141	21			NUM
globalce-260	141	22			ADJ
globalce-260	141	23			NOUN
globalce-260	141	24	∂	∂	ADJ
globalce-260	141	25			ADJ
globalce-260	141	26			PROPN
globalce-260	141	27			PROPN
globalce-260	141	28			PROPN
globalce-260	141	29	∂	∂	PROPN
globalce-260	141	30	∂	∂	NUM
globalce-260	141	31	∂	∂	NOUN
globalce-260	141	32			PROPN
globalce-260	141	33			ADJ
globalce-260	141	34			PROPN
globalce-260	141	35	∂	∂	PART
globalce-260	141	36	∂	∂	NUM
globalce-260	141	37	∂	∂	NUM
globalce-260	141	38			NOUN
globalce-260	141	39			PROPN
globalce-260	141	40	=	=	ADJ
globalce-260	141	41			ADJ
globalce-260	141	42			NOUN
globalce-260	141	43	∂	∂	ADJ
globalce-260	141	44			ADJ
globalce-260	141	45			NOUN
globalce-260	141	46	∂	∂	ADJ
globalce-260	141	47			ADJ
globalce-260	141	48			NOUN
globalce-260	141	49			PROPN
globalce-260	141	50			PUNCT
globalce-260	141	51			NOUN
globalce-260	141	52	∂	∂	ADJ
globalce-260	141	53			ADJ
globalce-260	141	54			NOUN
globalce-260	141	55	∂	∂	ADJ
globalce-260	141	56			ADJ
globalce-260	141	57			ADJ
globalce-260	141	58			NOUN
globalce-260	141	59			NOUN
globalce-260	141	60			VERB
globalce-260	141	61	(	(	PUNCT
globalce-260	141	62	1	1	NUM
globalce-260	141	63	)	)	PUNCT
globalce-260	141	64	where	where	SCONJ
globalce-260	141	65	[	[	PUNCT
globalce-260	141	66	]	]	SYM
globalce-260	141	67	1	1	NUM
globalce-260	141	68	2	2	NUM
globalce-260	141	69	3	3	NUM
globalce-260	141	70	,	,	PUNCT
globalce-260	141	71	,	,	PUNCT
globalce-260	141	72	tϕ	tϕ	SCONJ
globalce-260	141	73	ϕ	ϕ	PRON
globalce-260	141	74	ϕ	ϕ	NOUN
globalce-260	141	75	ϕ=	ϕ=	NOUN
globalce-260	141	76	is	be	AUX
globalce-260	141	77	a	a	DET
globalce-260	141	78	vector	vector	NOUN
globalce-260	141	79	of	of	ADP
globalce-260	141	80	angular	angular	ADJ
globalce-260	141	81	velocities	velocity	NOUN
globalce-260	141	82	of	of	ADP
globalce-260	141	83	the	the	DET
globalce-260	141	84	executive	executive	NOUN
globalce-260	141	85	link	link	NOUN
globalce-260	141	86	1	1	NUM
globalce-260	141	87	1	1	NUM
globalce-260	141	88	2	2	NUM
globalce-260	141	89	2	2	NUM
globalce-260	141	90	2	2	NUM
globalce-260	141	91	2	2	NUM
globalce-260	141	92	3	3	NUM
globalce-260	141	93	4	4	NUM
globalce-260	141	94	3	3	NUM
globalce-260	141	95	3	3	NUM
globalce-260	141	96	4	4	NUM
globalce-260	141	97	4	4	NUM
globalce-260	141	98	0	0	NUM
globalce-260	141	99	0	0	NUM
globalce-260	141	100	0	0	NUM
globalce-260	141	101	0	0	NUM
globalce-260	141	102	0	0	NUM
globalce-260	141	103	0	0	NUM
globalce-260	141	104	0	0	NUM
globalce-260	141	105	0	0	NUM
globalce-260	141	106	0	0	NUM
globalce-260	141	107	0	0	NUM
globalce-260	141	108	q	q	NOUN
globalce-260	142	1	q	q	X
globalce-260	142	2	q	q	X
globalce-260	142	3	q	q	X
globalce-260	142	4	j	j	X
globalce-260	142	5	q	q	X
globalce-260	142	6	q	q	X
globalce-260	142	7	ϕ	ϕ	X
globalce-260	142	8	ϕ	ϕ	X
globalce-260	142	9	ϕ	ϕ	X
globalce-260	142	10	ϕ	ϕ	X
globalce-260	142	11	ϕ	ϕ	PROPN
globalce-260	142	12	ϕ	ϕ	X
globalce-260	142	13	∂	∂	X
globalce-260	142	14			PROPN
globalce-260	142	15			NOUN
globalce-260	142	16	∂	∂	ADP
globalce-260	142	17			PROPN
globalce-260	142	18			ADJ
globalce-260	142	19	∂	∂	PROPN
globalce-260	142	20	∂	∂	NUM
globalce-260	142	21	∂	∂	NUM
globalce-260	142	22			ADJ
globalce-260	142	23	∂	∂	PROPN
globalce-260	142	24	∂	∂	NUM
globalce-260	142	25	∂	∂	NOUN
globalce-260	142	26	=	=	NOUN
globalce-260	142	27			ADJ
globalce-260	142	28	∂	∂	PROPN
globalce-260	142	29			ADJ
globalce-260	142	30			PROPN
globalce-260	142	31	∂	∂	NOUN
globalce-260	142	32			PROPN
globalce-260	142	33			NOUN
globalce-260	142	34	∂	∂	PROPN
globalce-260	142	35			ADJ
globalce-260	142	36			PROPN
globalce-260	142	37	∂	∂	NOUN
globalce-260	142	38			NOUN
globalce-260	142	39			NOUN
globalce-260	142	40	where	where	SCONJ
globalce-260	142	41	j	j	PROPN
globalce-260	142	42	is	be	AUX
globalce-260	142	43	the	the	DET
globalce-260	142	44	jacobian	jacobian	ADJ
globalce-260	142	45	matrix	matrix	NOUN
globalce-260	142	46	,	,	PUNCT
globalce-260	142	47	which	which	PRON
globalce-260	142	48	reflects	reflect	VERB
globalce-260	142	49	the	the	DET
globalce-260	142	50	value	value	NOUN
globalce-260	142	51	of	of	ADP
globalce-260	142	52	the	the	DET
globalce-260	142	53	transfer	transfer	NOUN
globalce-260	142	54	functions	function	NOUN
globalce-260	142	55	,	,	PUNCT
globalce-260	142	56	including	include	VERB
globalce-260	142	57	dependent	dependent	ADJ
globalce-260	142	58	movements	movement	NOUN
globalce-260	142	59	;	;	PUNCT
globalce-260	142	60	[	[	PUNCT
globalce-260	142	61	]	]	SYM
globalce-260	142	62	1	1	NUM
globalce-260	142	63	2	2	NUM
globalce-260	142	64	3	3	NUM
globalce-260	142	65	,	,	PUNCT
globalce-260	142	66	,	,	PUNCT
globalce-260	142	67	tq	tq	ADP
globalce-260	142	68	q	q	PRON
globalce-260	143	1	q	q	NOUN
globalce-260	143	2	q=	q=	ADV
globalce-260	143	3	is	be	AUX
globalce-260	143	4	the	the	DET
globalce-260	143	5	vector	vector	NOUN
globalce-260	143	6	of	of	ADP
globalce-260	143	7	angular	angular	ADJ
globalce-260	143	8	velocities	velocity	NOUN
globalce-260	143	9	at	at	ADP
globalce-260	143	10	the	the	DET
globalce-260	143	11	robot	robot	NOUN
globalce-260	143	12	’s	’s	PART
globalce-260	143	13	joints	joint	NOUN
globalce-260	143	14	.	.	PUNCT
globalce-260	144	1	93	93	NUM
globalce-260	144	2	j	j	PROPN
globalce-260	144	3	global	global	ADJ
globalce-260	144	4	clinical	clinical	ADJ
globalce-260	144	5	engineering	engineering	NOUN
globalce-260	144	6	vol.7	vol.7	PROPN
globalce-260	144	7	issue	issue	NOUN
globalce-260	144	8	3	3	NUM
globalce-260	144	9	:	:	SYM
globalce-260	144	10	2025	2025	NUM
globalce-260	144	11	ivanova	ivanova	PROPN
globalce-260	144	12	,	,	PUNCT
globalce-260	144	13	vasilev	vasilev	NOUN
globalce-260	144	14	,	,	PUNCT
globalce-260	144	15	boneva	boneva	ADV
globalce-260	144	16	:	:	PUNCT
globalce-260	144	17	training	training	NOUN
globalce-260	144	18	of	of	ADP
globalce-260	144	19	surgical	surgical	ADJ
globalce-260	144	20	skills	skill	NOUN
globalce-260	144	21	by	by	ADP
globalce-260	144	22	a	a	DET
globalce-260	144	23	3d	3d	NUM
globalce-260	144	24	augmented	augment	VERB
globalce-260	144	25	liver	liver	NOUN
globalce-260	144	26	model	model	NOUN
globalce-260	144	27	response	response	NOUN
globalce-260	144	28	during	during	ADP
globalce-260	144	29	instrument	instrument	NOUN
globalce-260	144	30	interactions	interaction	NOUN
globalce-260	144	31	simulation	simulation	NOUN
globalce-260	144	32	there	there	PRON
globalce-260	144	33	is	be	VERB
globalce-260	144	34	a	a	DET
globalce-260	144	35	need	need	NOUN
globalce-260	144	36	to	to	PART
globalce-260	144	37	determine	determine	VERB
globalce-260	144	38	the	the	DET
globalce-260	144	39	optimal	optimal	ADJ
globalce-260	144	40	area	area	NOUN
globalce-260	144	41	for	for	ADP
globalce-260	144	42	the	the	DET
globalce-260	144	43	movement	movement	NOUN
globalce-260	144	44	of	of	ADP
globalce-260	144	45	the	the	DET
globalce-260	144	46	tool	tool	NOUN
globalce-260	144	47	,	,	PUNCT
globalce-260	144	48	using	use	VERB
globalce-260	144	49	qualitative	qualitative	ADJ
globalce-260	144	50	indicators	indicator	NOUN
globalce-260	144	51	.	.	PUNCT
globalce-260	145	1	these	these	DET
globalce-260	145	2	indicators	indicator	NOUN
globalce-260	145	3	are	be	AUX
globalce-260	145	4	based	base	VERB
globalce-260	145	5	precisely	precisely	ADV
globalce-260	145	6	on	on	ADP
globalce-260	145	7	the	the	DET
globalce-260	145	8	jacobian	jacobian	ADJ
globalce-260	145	9	matrix	matrix	NOUN
globalce-260	145	10	.	.	PUNCT
globalce-260	146	1	as	as	ADP
globalce-260	146	2	a	a	DET
globalce-260	146	3	result	result	NOUN
globalce-260	146	4	,	,	PUNCT
globalce-260	146	5	the	the	DET
globalce-260	146	6	geometry	geometry	NOUN
globalce-260	146	7	of	of	ADP
globalce-260	146	8	the	the	DET
globalce-260	146	9	tool	tool	NOUN
globalce-260	146	10	is	be	AUX
globalce-260	146	11	optimized	optimize	VERB
globalce-260	146	12	so	so	SCONJ
globalce-260	146	13	that	that	SCONJ
globalce-260	146	14	in	in	ADP
globalce-260	146	15	a	a	DET
globalce-260	146	16	certain	certain	ADJ
globalce-260	146	17	area	area	NOUN
globalce-260	146	18	,	,	PUNCT
globalce-260	146	19	the	the	DET
globalce-260	146	20	configurations	configuration	NOUN
globalce-260	146	21	will	will	AUX
globalce-260	146	22	provide	provide	VERB
globalce-260	146	23	optimal	optimal	ADJ
globalce-260	146	24	movement	movement	NOUN
globalce-260	146	25	from	from	ADP
globalce-260	146	26	the	the	DET
globalce-260	146	27	point	point	NOUN
globalce-260	146	28	of	of	ADP
globalce-260	146	29	view	view	NOUN
globalce-260	146	30	of	of	ADP
globalce-260	146	31	kinematics	kinematic	NOUN
globalce-260	146	32	.	.	PUNCT
globalce-260	147	1	this	this	PRON
globalce-260	147	2	is	be	AUX
globalce-260	147	3	important	important	ADJ
globalce-260	147	4	when	when	SCONJ
globalce-260	147	5	scaling	scale	VERB
globalce-260	147	6	movements	movement	NOUN
globalce-260	147	7	,	,	PUNCT
globalce-260	147	8	that	that	ADV
globalce-260	147	9	is	is	ADV
globalce-260	147	10	,	,	PUNCT
globalce-260	147	11	with	with	ADP
globalce-260	147	12	a	a	DET
globalce-260	147	13	larger	large	ADJ
globalce-260	147	14	“	"	PUNCT
globalce-260	147	15	size	size	NOUN
globalce-260	147	16	”	"	PUNCT
globalce-260	147	17	of	of	ADP
globalce-260	147	18	movement	movement	NOUN
globalce-260	147	19	by	by	ADP
globalce-260	147	20	the	the	DET
globalce-260	147	21	operator	operator	NOUN
globalce-260	147	22	(	(	PUNCT
globalce-260	147	23	master	master	NOUN
globalce-260	147	24	)	)	PUNCT
globalce-260	147	25	,	,	PUNCT
globalce-260	147	26	minimal	minimal	ADJ
globalce-260	147	27	movements	movement	NOUN
globalce-260	147	28	of	of	ADP
globalce-260	147	29	the	the	DET
globalce-260	147	30	robotic	robotic	ADJ
globalce-260	147	31	tool	tool	NOUN
globalce-260	147	32	are	be	AUX
globalce-260	147	33	ensured	ensure	VERB
globalce-260	147	34	.	.	PUNCT
globalce-260	148	1	in	in	ADP
globalce-260	148	2	an	an	DET
globalce-260	148	3	optimal	optimal	ADJ
globalce-260	148	4	configuration	configuration	NOUN
globalce-260	148	5	(	(	PUNCT
globalce-260	148	6	a	a	DET
globalce-260	148	7	good	good	ADJ
globalce-260	148	8	quality	quality	NOUN
globalce-260	148	9	indicator	indicator	NOUN
globalce-260	148	10	)	)	PUNCT
globalce-260	148	11	,	,	PUNCT
globalce-260	148	12	these	these	DET
globalce-260	148	13	optimal	optimal	ADJ
globalce-260	148	14	configurations	configuration	NOUN
globalce-260	148	15	facilitate	facilitate	VERB
globalce-260	148	16	the	the	DET
globalce-260	148	17	control	control	NOUN
globalce-260	148	18	system	system	NOUN
globalce-260	148	19	.	.	PUNCT
globalce-260	149	1	the	the	DET
globalce-260	149	2	transmission	transmission	NOUN
globalce-260	149	3	functions	function	NOUN
globalce-260	149	4	i	i	PRON
globalce-260	149	5	iq	iq	VERB
globalce-260	149	6	ϕ∂	ϕ∂	VERB
globalce-260	149	7	∂	∂	NOUN
globalce-260	149	8	(	(	PUNCT
globalce-260	149	9	i	i	NOUN
globalce-260	149	10	=	=	NOUN
globalce-260	149	11	1	1	NUM
globalce-260	149	12	,	,	PUNCT
globalce-260	149	13	2	2	NUM
globalce-260	149	14	,	,	PUNCT
globalce-260	149	15	3	3	NUM
globalce-260	149	16	,	,	PUNCT
globalce-260	149	17	4	4	NUM
globalce-260	149	18	)	)	PUNCT
globalce-260	149	19	along	along	ADP
globalce-260	149	20	the	the	DET
globalce-260	149	21	main	main	ADJ
globalce-260	149	22	diagonal	diagonal	NOUN
globalce-260	149	23	have	have	VERB
globalce-260	149	24	the	the	DET
globalce-260	149	25	same	same	ADJ
globalce-260	149	26	structure	structure	NOUN
globalce-260	149	27	:	:	PUNCT
globalce-260	149	28	(	(	PUNCT
globalce-260	149	29	)	)	PUNCT
globalce-260	149	30	,	,	PUNCT
globalce-260	149	31	1,2,3,4i	1,2,3,4i	NUM
globalce-260	149	32	pi	pi	NOUN
globalce-260	149	33	ni	ni	PROPN
globalce-260	150	1	i	i	PRON
globalce-260	150	2	i	i	PRON
globalce-260	151	1	i	i	PRON
globalce-260	151	2	i	i	VERB
globalce-260	151	3	q	q	VERB
globalce-260	151	4	φ∂	φ∂	NOUN
globalce-260	152	1	=	=	SYM
globalce-260	152	2	×	×	NOUN
globalce-260	152	3	=	=	SYM
globalce-260	152	4	∂	∂	NUM
globalce-260	152	5	(	(	PUNCT
globalce-260	152	6	2	2	NUM
globalce-260	152	7	)	)	PUNCT
globalce-260	153	1	where	where	SCONJ
globalce-260	153	2	(	(	PUNCT
globalce-260	153	3	)	)	PUNCT
globalce-260	153	4	1,2,3,4pii	1,2,3,4pii	X
globalce-260	153	5	i	i	NOUN
globalce-260	153	6	=	=	PUNCT
globalce-260	153	7	is	be	AUX
globalce-260	153	8	the	the	DET
globalce-260	153	9	value	value	NOUN
globalce-260	153	10	of	of	ADP
globalce-260	153	11	the	the	DET
globalce-260	153	12	gear	gear	NOUN
globalce-260	153	13	ratio	ratio	NOUN
globalce-260	153	14	of	of	ADP
globalce-260	153	15	the	the	DET
globalce-260	153	16	reducer	reducer	NOUN
globalce-260	153	17	of	of	ADP
globalce-260	153	18	the	the	DET
globalce-260	153	19	corresponding	corresponding	ADJ
globalce-260	153	20	circuit	circuit	NOUN
globalce-260	153	21	(	(	PUNCT
globalce-260	153	22	most	most	ADV
globalce-260	153	23	often	often	ADV
globalce-260	153	24	and	and	CCONJ
globalce-260	153	25	in	in	ADP
globalce-260	153	26	this	this	DET
globalce-260	153	27	case	case	NOUN
globalce-260	153	28	are	be	AUX
globalce-260	153	29	equal	equal	ADJ
globalce-260	153	30	)	)	PUNCT
globalce-260	153	31	;	;	PUNCT
globalce-260	153	32	(	(	PUNCT
globalce-260	153	33	)	)	PUNCT
globalce-260	154	1	1,2,3,4nii	1,2,3,4nii	NUM
globalce-260	154	2	i	i	NOUN
globalce-260	154	3	=	=	PUNCT
globalce-260	154	4	is	be	AUX
globalce-260	154	5	the	the	DET
globalce-260	154	6	value	value	NOUN
globalce-260	154	7	of	of	ADP
globalce-260	154	8	the	the	DET
globalce-260	154	9	gear	gear	NOUN
globalce-260	154	10	ratio	ratio	NOUN
globalce-260	154	11	of	of	ADP
globalce-260	154	12	the	the	DET
globalce-260	154	13	wires	wire	NOUN
globalce-260	154	14	.	.	PUNCT
globalce-260	155	1	for	for	ADP
globalce-260	155	2	the	the	DET
globalce-260	155	3	determination	determination	NOUN
globalce-260	155	4	of	of	ADP
globalce-260	155	5	ini	ini	PROPN
globalce-260	155	6	,	,	PUNCT
globalce-260	155	7	kinematic	kinematic	ADJ
globalce-260	155	8	chains	chain	NOUN
globalce-260	155	9	of	of	ADP
globalce-260	155	10	links	link	NOUN
globalce-260	155	11	2	2	NUM
globalce-260	155	12	and	and	CCONJ
globalce-260	155	13	3	3	NUM
globalce-260	155	14	are	be	AUX
globalce-260	155	15	used	use	VERB
globalce-260	155	16	,	,	PUNCT
globalce-260	155	17	as	as	SCONJ
globalce-260	155	18	the	the	DET
globalce-260	155	19	kinematic	kinematic	ADJ
globalce-260	155	20	chain	chain	NOUN
globalce-260	155	21	of	of	ADP
globalce-260	155	22	link	link	NOUN
globalce-260	155	23	4	4	NUM
globalce-260	155	24	is	be	AUX
globalce-260	155	25	similar	similar	ADJ
globalce-260	155	26	to	to	PART
globalce-260	155	27	link	link	VERB
globalce-260	155	28	3	3	NUM
globalce-260	155	29	.	.	PUNCT
globalce-260	155	30	transmitting	transmit	VERB
globalce-260	155	31	functions	function	NOUN
globalce-260	155	32	at	at	ADP
globalce-260	155	33	the	the	DET
globalce-260	155	34	major	major	ADJ
globalce-260	155	35	diagonal	diagonal	NOUN
globalce-260	156	1	i	i	PRON
globalce-260	156	2	iq	iq	VERB
globalce-260	156	3	ϕ∂	ϕ∂	ADV
globalce-260	156	4	∂	∂	NOUN
globalce-260	156	5	,	,	PUNCT
globalce-260	157	1	where	where	SCONJ
globalce-260	157	2	(	(	PUNCT
globalce-260	157	3	)	)	PUNCT
globalce-260	157	4	1,2,3,4pii	1,2,3,4pii	X
globalce-260	158	1	i	i	NOUN
globalce-260	158	2	=	=	PRON
globalce-260	158	3	possesses	possess	VERB
globalce-260	158	4	a	a	DET
globalce-260	158	5	similar	similar	ADJ
globalce-260	158	6	structure	structure	NOUN
globalce-260	158	7	.	.	PUNCT
globalce-260	159	1	(	(	PUNCT
globalce-260	159	2	)	)	PUNCT
globalce-260	159	3	,	,	PUNCT
globalce-260	159	4	1,2,3,4i	1,2,3,4i	NUM
globalce-260	159	5	pi	pi	NOUN
globalce-260	159	6	ini	ini	PROPN
globalce-260	160	1	i	i	PRON
globalce-260	160	2	i	i	PRON
globalce-260	161	1	i	i	PRON
globalce-260	161	2	i	i	VERB
globalce-260	161	3	q	q	VERB
globalce-260	161	4	φ∂	φ∂	NOUN
globalce-260	162	1	=	=	SYM
globalce-260	162	2	×	×	NOUN
globalce-260	162	3	=	=	SYM
globalce-260	162	4	∂	∂	NUM
globalce-260	162	5	(	(	PUNCT
globalce-260	162	6	3	3	NUM
globalce-260	162	7	)	)	PUNCT
globalce-260	163	1	where	where	SCONJ
globalce-260	163	2	(	(	PUNCT
globalce-260	163	3	)	)	PUNCT
globalce-260	163	4	1,2,3,4pii	1,2,3,4pii	X
globalce-260	164	1	i	i	NOUN
globalce-260	164	2	=	=	PUNCT
globalce-260	164	3	is	be	AUX
globalce-260	164	4	the	the	DET
globalce-260	164	5	value	value	NOUN
globalce-260	164	6	of	of	ADP
globalce-260	164	7	the	the	DET
globalce-260	164	8	gear	gear	NOUN
globalce-260	164	9	reduction	reduction	NOUN
globalce-260	164	10	ratio	ratio	NOUN
globalce-260	164	11	of	of	ADP
globalce-260	164	12	the	the	DET
globalce-260	164	13	respective	respective	ADJ
globalce-260	164	14	chain	chain	NOUN
globalce-260	164	15	(	(	PUNCT
globalce-260	164	16	often	often	ADV
globalce-260	164	17	and	and	CCONJ
globalce-260	164	18	in	in	ADP
globalce-260	164	19	this	this	DET
globalce-260	164	20	case	case	NOUN
globalce-260	164	21	they	they	PRON
globalce-260	164	22	are	be	AUX
globalce-260	164	23	identical	identical	ADJ
globalce-260	164	24	)	)	PUNCT
globalce-260	164	25	and	and	CCONJ
globalce-260	164	26	(	(	PUNCT
globalce-260	164	27	)	)	PUNCT
globalce-260	164	28	1,2,3,4nii	1,2,3,4nii	NUM
globalce-260	165	1	i	i	NOUN
globalce-260	165	2	=	=	PUNCT
globalce-260	165	3	is	be	AUX
globalce-260	165	4	the	the	DET
globalce-260	165	5	value	value	NOUN
globalce-260	165	6	of	of	ADP
globalce-260	165	7	the	the	DET
globalce-260	165	8	gear	gear	NOUN
globalce-260	165	9	transmission	transmission	NOUN
globalce-260	165	10	ratio	ratio	NOUN
globalce-260	165	11	of	of	ADP
globalce-260	165	12	the	the	DET
globalce-260	165	13	wire	wire	NOUN
globalce-260	165	14	.	.	PUNCT
globalce-260	166	1	the	the	DET
globalce-260	166	2	derived	derive	VERB
globalce-260	166	3	analytical	analytical	ADJ
globalce-260	166	4	dependencies	dependency	NOUN
globalce-260	166	5	of	of	ADP
globalce-260	166	6	the	the	DET
globalce-260	166	7	transmission	transmission	NOUN
globalce-260	166	8	functions	function	NOUN
globalce-260	166	9	make	make	VERB
globalce-260	166	10	it	it	PRON
globalce-260	166	11	possible	possible	ADJ
globalce-260	166	12	to	to	PART
globalce-260	166	13	carry	carry	VERB
globalce-260	166	14	out	out	ADP
globalce-260	166	15	calculation	calculation	NOUN
globalce-260	166	16	procedures	procedure	NOUN
globalce-260	166	17	for	for	ADP
globalce-260	166	18	the	the	DET
globalce-260	166	19	optimization	optimization	NOUN
globalce-260	166	20	of	of	ADP
globalce-260	166	21	dimensions	dimension	NOUN
globalce-260	166	22	under	under	ADP
globalce-260	166	23	the	the	DET
globalce-260	166	24	existing	exist	VERB
globalce-260	166	25	limiting	limit	VERB
globalce-260	166	26	conditions	condition	NOUN
globalce-260	166	27	and	and	CCONJ
globalce-260	166	28	also	also	ADV
globalce-260	166	29	to	to	PART
globalce-260	166	30	be	be	AUX
globalce-260	166	31	implemented	implement	VERB
globalce-260	166	32	in	in	ADP
globalce-260	166	33	the	the	DET
globalce-260	166	34	software	software	NOUN
globalce-260	166	35	for	for	ADP
globalce-260	166	36	controlling	control	VERB
globalce-260	166	37	the	the	DET
globalce-260	166	38	movement	movement	NOUN
globalce-260	166	39	of	of	ADP
globalce-260	166	40	the	the	DET
globalce-260	166	41	tool	tool	NOUN
globalce-260	166	42	,	,	PUNCT
globalce-260	166	43	which	which	PRON
globalce-260	166	44	is	be	AUX
globalce-260	166	45	explained	explain	VERB
globalce-260	166	46	in	in	ADP
globalce-260	166	47	the	the	DET
globalce-260	166	48	next	next	ADJ
globalce-260	166	49	section	section	NOUN
globalce-260	166	50	.	.	PUNCT
globalce-260	167	1	a	a	DET
globalce-260	167	2	simulatiing	simulatie	VERB
globalce-260	167	3	approach	approach	NOUN
globalce-260	167	4	of	of	ADP
globalce-260	167	5	liver	liver	NOUN
globalce-260	167	6	model	model	NOUN
globalce-260	167	7	response	response	NOUN
globalce-260	167	8	during	during	ADP
globalce-260	167	9	instrument	instrument	NOUN
globalce-260	167	10	interactions	interaction	NOUN
globalce-260	167	11	tasks	task	NOUN
globalce-260	167	12	and	and	CCONJ
globalce-260	167	13	motions	motion	NOUN
globalce-260	167	14	in	in	ADP
globalce-260	167	15	surgical	surgical	ADJ
globalce-260	167	16	operation	operation	NOUN
globalce-260	167	17	the	the	DET
globalce-260	167	18	actions	action	NOUN
globalce-260	167	19	that	that	PRON
globalce-260	167	20	are	be	AUX
globalce-260	167	21	referred	refer	VERB
globalce-260	167	22	to	to	ADP
globalce-260	167	23	in	in	ADP
globalce-260	167	24	the	the	DET
globalce-260	167	25	performance	performance	NOUN
globalce-260	167	26	of	of	ADP
globalce-260	167	27	laparoscopic	laparoscopic	NOUN
globalce-260	167	28	operations	operation	NOUN
globalce-260	167	29	are	be	AUX
globalce-260	167	30	numerous	numerous	ADJ
globalce-260	167	31	,	,	PUNCT
globalce-260	167	32	and	and	CCONJ
globalce-260	167	33	their	their	PRON
globalce-260	167	34	priorities	priority	NOUN
globalce-260	167	35	are	be	AUX
globalce-260	167	36	defined	define	VERB
globalce-260	167	37	and	and	CCONJ
globalce-260	167	38	strictly	strictly	ADV
globalce-260	167	39	performed	perform	VERB
globalce-260	167	40	by	by	ADP
globalce-260	167	41	the	the	DET
globalce-260	167	42	medical	medical	ADJ
globalce-260	167	43	teams	team	NOUN
globalce-260	167	44	.	.	PUNCT
globalce-260	168	1	in	in	ADP
globalce-260	168	2	this	this	DET
globalce-260	168	3	case	case	NOUN
globalce-260	168	4	,	,	PUNCT
globalce-260	168	5	when	when	SCONJ
globalce-260	168	6	they	they	PRON
globalce-260	168	7	are	be	AUX
globalce-260	168	8	referring	refer	VERB
globalce-260	168	9	to	to	ADP
globalce-260	168	10	actions	action	NOUN
globalce-260	168	11	that	that	PRON
globalce-260	168	12	require	require	VERB
globalce-260	168	13	manipulative	manipulative	ADJ
globalce-260	168	14	movements	movement	NOUN
globalce-260	168	15	through	through	ADP
globalce-260	168	16	specialized	specialized	ADJ
globalce-260	168	17	tools	tool	NOUN
globalce-260	168	18	,	,	PUNCT
globalce-260	168	19	they	they	PRON
globalce-260	168	20	include	include	VERB
globalce-260	168	21	:	:	PUNCT
globalce-260	168	22	visualization	visualization	NOUN
globalce-260	168	23	(	(	PUNCT
globalce-260	168	24	illumination	illumination	NOUN
globalce-260	168	25	and	and	CCONJ
globalce-260	168	26	movement	movement	NOUN
globalce-260	168	27	of	of	ADP
globalce-260	168	28	a	a	DET
globalce-260	168	29	mini	mini	ADJ
globalce-260	168	30	video	video	NOUN
globalce-260	168	31	camera	camera	NOUN
globalce-260	168	32	into	into	ADP
globalce-260	168	33	the	the	DET
globalce-260	168	34	body	body	NOUN
globalce-260	168	35	of	of	ADP
globalce-260	168	36	patients	patient	NOUN
globalce-260	168	37	)	)	PUNCT
globalce-260	168	38	of	of	ADP
globalce-260	168	39	the	the	DET
globalce-260	168	40	manipulated	manipulate	VERB
globalce-260	168	41	objects	object	NOUN
globalce-260	168	42	at	at	ADP
globalce-260	168	43	the	the	DET
globalce-260	168	44	place	place	NOUN
globalce-260	168	45	where	where	SCONJ
globalce-260	168	46	the	the	DET
globalce-260	168	47	controlled	control	VERB
globalce-260	168	48	action	action	NOUN
globalce-260	168	49	is	be	AUX
globalce-260	168	50	performed	perform	VERB
globalce-260	168	51	:	:	PUNCT
globalce-260	168	52	•	•	ADP
globalce-260	168	53	gripping	grip	VERB
globalce-260	168	54	with	with	ADP
globalce-260	168	55	positional	positional	ADJ
globalce-260	168	56	fixation	fixation	NOUN
globalce-260	168	57	of	of	ADP
globalce-260	168	58	the	the	DET
globalce-260	168	59	object	object	NOUN
globalce-260	168	60	in	in	ADP
globalce-260	168	61	order	order	NOUN
globalce-260	168	62	to	to	PART
globalce-260	168	63	be	be	AUX
globalce-260	168	64	manipulated	manipulate	VERB
globalce-260	168	65	,	,	PUNCT
globalce-260	168	66	without	without	ADP
globalce-260	168	67	being	be	AUX
globalce-260	168	68	uncontrolled	uncontrolle	VERB
globalce-260	168	69	;	;	PUNCT
globalce-260	168	70	•	•	X
globalce-260	168	71	gripping	grip	VERB
globalce-260	168	72	(	(	PUNCT
globalce-260	168	73	clamping	clamp	VERB
globalce-260	168	74	)	)	PUNCT
globalce-260	168	75	in	in	ADP
globalce-260	168	76	order	order	NOUN
globalce-260	168	77	to	to	PART
globalce-260	168	78	isolate	isolate	VERB
globalce-260	168	79	and	and	CCONJ
globalce-260	168	80	temporarily	temporarily	ADV
globalce-260	168	81	disconnect	disconnect	VERB
globalce-260	168	82	the	the	DET
globalce-260	168	83	object	object	NOUN
globalce-260	168	84	during	during	ADP
globalce-260	168	85	manipulation	manipulation	NOUN
globalce-260	168	86	with	with	ADP
globalce-260	168	87	it	it	PRON
globalce-260	168	88	;	;	PUNCT
globalce-260	168	89	•	•	ADP
globalce-260	168	90	clamping	clamp	VERB
globalce-260	168	91	blood	blood	NOUN
globalce-260	168	92	vessels	vessel	NOUN
globalce-260	168	93	to	to	PART
globalce-260	168	94	hold	hold	VERB
globalce-260	168	95	up	up	ADP
globalce-260	168	96	bleeding	bleed	VERB
globalce-260	168	97	damage	damage	NOUN
globalce-260	168	98	.	.	PUNCT
globalce-260	169	1	elementary	elementary	ADJ
globalce-260	169	2	actions	action	NOUN
globalce-260	169	3	such	such	ADJ
globalce-260	169	4	as	as	ADP
globalce-260	169	5	touching	touching	ADJ
globalce-260	169	6	and	and	CCONJ
globalce-260	169	7	grasping	grasping	NOUN
globalce-260	169	8	are	be	AUX
globalce-260	169	9	basic	basic	ADJ
globalce-260	169	10	tool	tool	NOUN
globalce-260	169	11	manipulations	manipulation	NOUN
globalce-260	169	12	and	and	CCONJ
globalce-260	169	13	are	be	AUX
globalce-260	169	14	relatively	relatively	ADV
globalce-260	169	15	easy	easy	ADJ
globalce-260	169	16	to	to	PART
globalce-260	169	17	figure	figure	VERB
globalce-260	169	18	1	1	NUM
globalce-260	169	19	.	.	PUNCT
globalce-260	169	20	possible	possible	ADJ
globalce-260	169	21	instrument	instrument	NOUN
globalce-260	169	22	workspace	workspace	NOUN
globalce-260	169	23	and	and	CCONJ
globalce-260	169	24	instrument	instrument	NOUN
globalce-260	169	25	monuments	monument	NOUN
globalce-260	169	26	.	.	PUNCT
globalce-260	170	1	ivanova	ivanova	PROPN
globalce-260	170	2	,	,	PUNCT
globalce-260	170	3	vasilev	vasilev	NOUN
globalce-260	170	4	,	,	PUNCT
globalce-260	170	5	boneva	boneva	ADV
globalce-260	170	6	:	:	PUNCT
globalce-260	170	7	training	training	NOUN
globalce-260	170	8	of	of	ADP
globalce-260	170	9	surgical	surgical	ADJ
globalce-260	170	10	skills	skill	NOUN
globalce-260	170	11	by	by	ADP
globalce-260	170	12	a	a	DET
globalce-260	170	13	3d	3d	NUM
globalce-260	170	14	augmented	augment	VERB
globalce-260	170	15	liver	liver	NOUN
globalce-260	170	16	model	model	NOUN
globalce-260	170	17	response	response	NOUN
globalce-260	170	18	during	during	ADP
globalce-260	170	19	instrument	instrument	NOUN
globalce-260	170	20	interactions	interaction	NOUN
globalce-260	170	21	simulation	simulation	NOUN
globalce-260	170	22	j	j	PROPN
globalce-260	170	23	global	global	ADJ
globalce-260	170	24	clinical	clinical	ADJ
globalce-260	170	25	engineering	engineering	NOUN
globalce-260	170	26	vol.7	vol.7	PROPN
globalce-260	170	27	issue	issue	NOUN
globalce-260	170	28	3	3	NUM
globalce-260	170	29	:	:	SYM
globalce-260	170	30	2025	2025	NUM
globalce-260	170	31	94	94	NUM
globalce-260	170	32	perform	perform	NOUN
globalce-260	170	33	.	.	PUNCT
globalce-260	171	1	more	more	ADV
globalce-260	171	2	complicated	complicated	ADJ
globalce-260	171	3	actions	action	NOUN
globalce-260	171	4	are	be	AUX
globalce-260	171	5	(	(	PUNCT
globalce-260	171	6	1	1	X
globalce-260	171	7	)	)	PUNCT
globalce-260	171	8	dissections	dissection	NOUN
globalce-260	171	9	and	and	CCONJ
globalce-260	171	10	(	(	PUNCT
globalce-260	171	11	2	2	X
globalce-260	171	12	)	)	PUNCT
globalce-260	171	13	working	work	VERB
globalce-260	171	14	with	with	ADP
globalce-260	171	15	robotic	robotic	ADJ
globalce-260	171	16	suturing	suture	VERB
globalce-260	171	17	instruments	instrument	NOUN
globalce-260	171	18	,	,	PUNCT
globalce-260	171	19	which	which	PRON
globalce-260	171	20	require	require	VERB
globalce-260	171	21	a	a	DET
globalce-260	171	22	lot	lot	NOUN
globalce-260	171	23	of	of	ADP
globalce-260	171	24	knowledge	knowledge	NOUN
globalce-260	171	25	and	and	CCONJ
globalce-260	171	26	skills	skill	NOUN
globalce-260	171	27	from	from	ADP
globalce-260	171	28	the	the	DET
globalce-260	171	29	surgeons	surgeon	NOUN
globalce-260	171	30	,	,	PUNCT
globalce-260	171	31	and	and	CCONJ
globalce-260	171	32	they	they	PRON
globalce-260	171	33	are	be	AUX
globalce-260	171	34	more	more	ADV
globalce-260	171	35	difficult	difficult	ADJ
globalce-260	171	36	to	to	PART
globalce-260	171	37	simulate	simulate	VERB
globalce-260	171	38	too	too	ADV
globalce-260	171	39	.	.	PUNCT
globalce-260	172	1	however	however	ADV
globalce-260	172	2	,	,	PUNCT
globalce-260	172	3	some	some	PRON
globalce-260	172	4	of	of	ADP
globalce-260	172	5	them	they	PRON
globalce-260	172	6	,	,	PUNCT
globalce-260	172	7	such	such	ADJ
globalce-260	172	8	as	as	ADP
globalce-260	172	9	robotic	robotic	ADJ
globalce-260	172	10	needle	needle	NOUN
globalce-260	172	11	driving	driving	NOUN
globalce-260	172	12	and	and	CCONJ
globalce-260	172	13	grasping	grasping	NOUN
globalce-260	172	14	,	,	PUNCT
globalce-260	172	15	which	which	PRON
globalce-260	172	16	are	be	AUX
globalce-260	172	17	easy	easy	ADJ
globalce-260	172	18	in	in	ADP
globalce-260	172	19	open	open	ADJ
globalce-260	172	20	surgery	surgery	NOUN
globalce-260	172	21	,	,	PUNCT
globalce-260	172	22	are	be	AUX
globalce-260	172	23	found	find	VERB
globalce-260	172	24	to	to	PART
globalce-260	172	25	be	be	AUX
globalce-260	172	26	more	more	ADV
globalce-260	172	27	difficult	difficult	ADJ
globalce-260	172	28	to	to	PART
globalce-260	172	29	perform	perform	VERB
globalce-260	172	30	during	during	ADP
globalce-260	172	31	laparoscopy	laparoscopy	NOUN
globalce-260	172	32	.	.	PUNCT
globalce-260	173	1	a	a	DET
globalce-260	173	2	surgical	surgical	ADJ
globalce-260	173	3	task	task	NOUN
globalce-260	173	4	such	such	ADJ
globalce-260	173	5	as	as	ADP
globalce-260	173	6	suturing	suture	VERB
globalce-260	173	7	includes	include	VERB
globalce-260	173	8	a	a	DET
globalce-260	173	9	needle	needle	NOUN
globalce-260	173	10	acting	act	VERB
globalce-260	173	11	with	with	ADP
globalce-260	173	12	one	one	NUM
globalce-260	173	13	rotation	rotation	NOUN
globalce-260	173	14	and	and	CCONJ
globalce-260	173	15	one	one	NUM
globalce-260	173	16	translation.35	translation.35	NOUN
globalce-260	173	17	the	the	DET
globalce-260	173	18	surgeon	surgeon	NOUN
globalce-260	173	19	’s	’s	PART
globalce-260	173	20	hand	hand	NOUN
globalce-260	173	21	is	be	AUX
globalce-260	173	22	close	close	ADJ
globalce-260	173	23	to	to	ADP
globalce-260	173	24	the	the	DET
globalce-260	173	25	surface	surface	NOUN
globalce-260	173	26	being	be	AUX
globalce-260	173	27	sutured	suture	VERB
globalce-260	173	28	while	while	SCONJ
globalce-260	173	29	rotating	rotate	VERB
globalce-260	173	30	the	the	DET
globalce-260	173	31	needle	needle	NOUN
globalce-260	173	32	so	so	SCONJ
globalce-260	173	33	that	that	SCONJ
globalce-260	173	34	the	the	DET
globalce-260	173	35	needle	needle	NOUN
globalce-260	173	36	moves	move	VERB
globalce-260	173	37	in	in	ADP
globalce-260	173	38	a	a	DET
globalce-260	173	39	circular	circular	ADJ
globalce-260	173	40	path	path	NOUN
globalce-260	173	41	without	without	ADP
globalce-260	173	42	damaging	damage	VERB
globalce-260	173	43	the	the	DET
globalce-260	173	44	tissue	tissue	NOUN
globalce-260	173	45	.	.	PUNCT
globalce-260	174	1	in	in	ADP
globalce-260	174	2	robotic	robotic	ADJ
globalce-260	174	3	surgery	surgery	NOUN
globalce-260	174	4	,	,	PUNCT
globalce-260	174	5	it	it	PRON
globalce-260	174	6	can	can	AUX
globalce-260	174	7	be	be	AUX
globalce-260	174	8	reduced	reduce	VERB
globalce-260	174	9	to	to	ADP
globalce-260	174	10	one	one	NUM
globalce-260	174	11	movement	movement	NOUN
globalce-260	174	12	—	—	PUNCT
globalce-260	174	13	rotating	rotate	VERB
globalce-260	174	14	around	around	ADP
globalce-260	174	15	the	the	DET
globalce-260	174	16	axis	axis	NOUN
globalce-260	174	17	of	of	ADP
globalce-260	174	18	the	the	DET
globalce-260	174	19	instrument	instrument	NOUN
globalce-260	174	20	,	,	PUNCT
globalce-260	174	21	bending	bend	VERB
globalce-260	174	22	the	the	DET
globalce-260	174	23	short	short	ADJ
globalce-260	174	24	part	part	NOUN
globalce-260	174	25	of	of	ADP
globalce-260	174	26	the	the	DET
globalce-260	174	27	needle	needle	NOUN
globalce-260	174	28	near	near	ADP
globalce-260	174	29	the	the	DET
globalce-260	174	30	blunt	blunt	ADJ
globalce-260	174	31	end	end	NOUN
globalce-260	174	32	,	,	PUNCT
globalce-260	174	33	and	and	CCONJ
globalce-260	174	34	just	just	ADV
globalce-260	174	35	in	in	ADP
globalce-260	174	36	front	front	NOUN
globalce-260	174	37	of	of	ADP
globalce-260	174	38	where	where	SCONJ
globalce-260	174	39	it	it	PRON
globalce-260	174	40	is	be	AUX
globalce-260	174	41	held	hold	VERB
globalce-260	174	42	by	by	ADP
globalce-260	174	43	the	the	DET
globalce-260	174	44	slave	slave	NOUN
globalce-260	174	45	instrument	instrument	NOUN
globalce-260	174	46	,	,	PUNCT
globalce-260	174	47	so	so	SCONJ
globalce-260	174	48	that	that	SCONJ
globalce-260	174	49	the	the	DET
globalce-260	174	50	needle	needle	NOUN
globalce-260	174	51	moves	move	VERB
globalce-260	174	52	in	in	ADP
globalce-260	174	53	a	a	DET
globalce-260	174	54	circular	circular	ADJ
globalce-260	174	55	arc	arc	NOUN
globalce-260	174	56	,	,	PUNCT
globalce-260	174	57	while	while	SCONJ
globalce-260	174	58	the	the	DET
globalce-260	174	59	tool	tool	NOUN
globalce-260	174	60	rotates	rotate	VERB
globalce-260	174	61	about	about	ADP
globalce-260	174	62	its	its	PRON
globalce-260	174	63	axis.36	axis.36	NOUN
globalce-260	174	64	some	some	DET
globalce-260	174	65	authors	author	NOUN
globalce-260	174	66	have	have	AUX
globalce-260	174	67	been	be	AUX
globalce-260	174	68	focusing	focus	VERB
globalce-260	174	69	on	on	ADP
globalce-260	174	70	knitting	knitting	NOUN
globalce-260	174	71	manipulation	manipulation	NOUN
globalce-260	174	72	by	by	ADP
globalce-260	174	73	robots	robot	NOUN
globalce-260	174	74	.	.	PUNCT
globalce-260	175	1	some	some	DET
globalce-260	175	2	researchers	researcher	NOUN
globalce-260	175	3	have	have	AUX
globalce-260	175	4	performed	perform	VERB
globalce-260	175	5	in	in	ADP
globalce-260	175	6	vivo	vivo	ADJ
globalce-260	175	7	tests	test	NOUN
globalce-260	175	8	with	with	ADP
globalce-260	175	9	different	different	ADJ
globalce-260	175	10	types	type	NOUN
globalce-260	175	11	of	of	ADP
globalce-260	175	12	needles	needle	NOUN
globalce-260	175	13	and	and	CCONJ
globalce-260	175	14	tissues	tissue	NOUN
globalce-260	175	15	,	,	PUNCT
globalce-260	175	16	showing	show	VERB
globalce-260	175	17	that	that	SCONJ
globalce-260	175	18	the	the	DET
globalce-260	175	19	required	required	ADJ
globalce-260	175	20	range	range	NOUN
globalce-260	175	21	of	of	ADP
globalce-260	175	22	force	force	NOUN
globalce-260	175	23	and	and	CCONJ
globalce-260	175	24	resolution	resolution	NOUN
globalce-260	175	25	is	be	AUX
globalce-260	175	26	2.5	2.5	NUM
globalce-260	175	27	n	n	NOUN
globalce-260	175	28	and	and	CCONJ
globalce-260	175	29	0.01	0.01	NUM
globalce-260	175	30	n	n	CCONJ
globalce-260	175	31	,	,	PUNCT
globalce-260	175	32	respectively.37,38	respectively.37,38	VERB
globalce-260	175	33	the	the	DET
globalce-260	175	34	results	result	NOUN
globalce-260	175	35	in	in	ADP
globalce-260	175	36	table	table	NOUN
globalce-260	175	37	1	1	NUM
globalce-260	175	38	are	be	AUX
globalce-260	175	39	obtained	obtain	VERB
globalce-260	175	40	with	with	ADP
globalce-260	175	41	the	the	DET
globalce-260	175	42	designed	design	VERB
globalce-260	175	43	laparoscopic	laparoscopic	NOUN
globalce-260	175	44	executive	executive	NOUN
globalce-260	175	45	instrument	instrument	NOUN
globalce-260	175	46	for	for	ADP
globalce-260	175	47	robots	robot	NOUN
globalce-260	175	48	(	(	PUNCT
globalce-260	175	49	figure	figure	NOUN
globalce-260	175	50	2	2	NUM
globalce-260	175	51	)	)	PUNCT
globalce-260	175	52	.	.	PUNCT
globalce-260	176	1	table	table	NOUN
globalce-260	176	2	1	1	NUM
globalce-260	176	3	.	.	PUNCT
globalce-260	176	4	description	description	NOUN
globalce-260	176	5	of	of	ADP
globalce-260	176	6	usability	usability	NOUN
globalce-260	176	7	attributes	attribute	NOUN
globalce-260	176	8	.	.	PUNCT
globalce-260	177	1	samples	sample	NOUN
globalce-260	177	2	min	min	PROPN
globalce-260	177	3	.	.	PROPN
globalce-260	177	4	force	force	PROPN
globalce-260	177	5	(	(	PUNCT
globalce-260	177	6	n	n	CCONJ
globalce-260	177	7	)	)	PUNCT
globalce-260	177	8	max	max	PROPN
globalce-260	177	9	.	.	PUNCT
globalce-260	177	10	force	force	PROPN
globalce-260	177	11	(	(	PUNCT
globalce-260	177	12	n	n	CCONJ
globalce-260	177	13	)	)	PUNCT
globalce-260	177	14	average	average	ADJ
globalce-260	177	15	value	value	NOUN
globalce-260	177	16	(	(	PUNCT
globalce-260	177	17	n	n	CCONJ
globalce-260	177	18	)	)	PUNCT
globalce-260	177	19	amplitude	amplitude	NOUN
globalce-260	177	20	(	(	PUNCT
globalce-260	177	21	n	n	CCONJ
globalce-260	177	22	)	)	PUNCT
globalce-260	177	23	styrofoam	styrofoam	NOUN
globalce-260	177	24	sample	sample	NOUN
globalce-260	177	25	0.1	0.1	NUM
globalce-260	177	26	1.67	1.67	NUM
globalce-260	177	27	0.83	0.83	NUM
globalce-260	177	28	1.57	1.57	NUM
globalce-260	177	29	styrofoam	styrofoam	NOUN
globalce-260	177	30	rubber	rubber	NOUN
globalce-260	177	31	sample	sample	NOUN
globalce-260	177	32	0.785	0.785	NUM
globalce-260	177	33	2.26	2.26	NUM
globalce-260	177	34	1.13	1.13	NUM
globalce-260	177	35	1.47	1.47	NUM
globalce-260	177	36	muscle	muscle	NOUN
globalce-260	177	37	tissue	tissue	NOUN
globalce-260	177	38	sample	sample	NOUN
globalce-260	177	39	0.45	0.45	NUM
globalce-260	177	40	2.4	2.4	NUM
globalce-260	177	41	1.21	1.21	NUM
globalce-260	177	42	1.94	1.94	NUM
globalce-260	177	43	sample	sample	NOUN
globalce-260	177	44	liver	liver	NOUN
globalce-260	177	45	,	,	PUNCT
globalce-260	177	46	pork	pork	NOUN
globalce-260	177	47	0.05	0.05	NUM
globalce-260	177	48	1.96	1.96	NUM
globalce-260	177	49	0.93	0.93	NUM
globalce-260	177	50	1.9	1.9	NUM
globalce-260	177	51	the	the	DET
globalce-260	177	52	research	research	NOUN
globalce-260	177	53	shows	show	VERB
globalce-260	177	54	the	the	DET
globalce-260	177	55	following	follow	VERB
globalce-260	177	56	results	result	NOUN
globalce-260	177	57	.	.	PUNCT
globalce-260	178	1	the	the	DET
globalce-260	178	2	required	require	VERB
globalce-260	178	3	force	force	NOUN
globalce-260	178	4	for	for	ADP
globalce-260	178	5	soft	soft	ADJ
globalce-260	178	6	tissues	tissue	NOUN
globalce-260	178	7	is	be	AUX
globalce-260	178	8	about	about	ADV
globalce-260	178	9	0.2	0.2	NUM
globalce-260	178	10	n	n	CCONJ
globalce-260	178	11	,	,	PUNCT
globalce-260	178	12	the	the	DET
globalce-260	178	13	applied	apply	VERB
globalce-260	178	14	gripping	gripping	ADJ
globalce-260	178	15	force	force	NOUN
globalce-260	178	16	for	for	ADP
globalce-260	178	17	soft	soft	ADJ
globalce-260	178	18	tissues	tissue	NOUN
globalce-260	178	19	is	be	AUX
globalce-260	178	20	0.5	0.5	NUM
globalce-260	178	21	n	n	CCONJ
globalce-260	178	22	,	,	PUNCT
globalce-260	178	23	and	and	CCONJ
globalce-260	178	24	it	it	PRON
globalce-260	178	25	is	be	AUX
globalce-260	178	26	0.9	0.9	NUM
globalce-260	178	27	n	n	NOUN
globalce-260	178	28	for	for	ADP
globalce-260	178	29	hard	hard	ADJ
globalce-260	178	30	tissues	tissue	NOUN
globalce-260	178	31	.	.	PUNCT
globalce-260	179	1	the	the	DET
globalce-260	179	2	required	require	VERB
globalce-260	179	3	force	force	NOUN
globalce-260	179	4	is	be	AUX
globalce-260	179	5	different	different	ADJ
globalce-260	179	6	for	for	ADP
globalce-260	179	7	different	different	ADJ
globalce-260	179	8	cases	case	NOUN
globalce-260	179	9	.	.	PUNCT
globalce-260	180	1	it	it	PRON
globalce-260	180	2	depends	depend	VERB
globalce-260	180	3	on	on	ADP
globalce-260	180	4	the	the	DET
globalce-260	180	5	patient	patient	NOUN
globalce-260	180	6	’s	’s	PART
globalce-260	180	7	age	age	NOUN
globalce-260	180	8	,	,	PUNCT
globalce-260	180	9	health	health	NOUN
globalce-260	180	10	,	,	PUNCT
globalce-260	180	11	gender	gender	NOUN
globalce-260	180	12	,	,	PUNCT
globalce-260	180	13	and	and	CCONJ
globalce-260	180	14	other	other	ADJ
globalce-260	180	15	factors	factor	NOUN
globalce-260	180	16	.	.	PUNCT
globalce-260	181	1	in	in	ADP
globalce-260	181	2	general	general	ADJ
globalce-260	181	3	,	,	PUNCT
globalce-260	181	4	the	the	DET
globalce-260	181	5	maximum	maximum	ADJ
globalce-260	181	6	force	force	NOUN
globalce-260	181	7	is	be	AUX
globalce-260	181	8	from	from	ADP
globalce-260	181	9	1.5	1.5	NUM
globalce-260	181	10	to	to	PART
globalce-260	181	11	3	3	NUM
globalce-260	181	12	n.	n.	NOUN
globalce-260	181	13	in	in	ADP
globalce-260	181	14	isolated	isolated	ADJ
globalce-260	181	15	cases	case	NOUN
globalce-260	181	16	,	,	PUNCT
globalce-260	181	17	the	the	DET
globalce-260	181	18	required	require	VERB
globalce-260	181	19	force	force	NOUN
globalce-260	181	20	is	be	AUX
globalce-260	181	21	from	from	ADP
globalce-260	181	22	6	6	NUM
globalce-260	181	23	to	to	PART
globalce-260	181	24	12.5	12.5	NUM
globalce-260	181	25	n.	n.	NOUN
globalce-260	181	26	these	these	DET
globalce-260	181	27	cases	case	NOUN
globalce-260	181	28	occur	occur	VERB
globalce-260	181	29	when	when	SCONJ
globalce-260	181	30	the	the	DET
globalce-260	181	31	instrument	instrument	NOUN
globalce-260	181	32	is	be	AUX
globalce-260	181	33	used	use	VERB
globalce-260	181	34	for	for	ADP
globalce-260	181	35	tissue	tissue	NOUN
globalce-260	181	36	lifting	lifting	NOUN
globalce-260	181	37	.	.	PUNCT
globalce-260	182	1	so	so	ADV
globalce-260	182	2	,	,	PUNCT
globalce-260	182	3	the	the	DET
globalce-260	182	4	instrument	instrument	NOUN
globalce-260	182	5	force	force	NOUN
globalce-260	182	6	is	be	AUX
globalce-260	182	7	combined	combine	VERB
globalce-260	182	8	with	with	ADP
globalce-260	182	9	the	the	DET
globalce-260	182	10	forces	force	NOUN
globalce-260	182	11	because	because	SCONJ
globalce-260	182	12	of	of	ADP
globalce-260	182	13	the	the	DET
globalce-260	182	14	properties	property	NOUN
globalce-260	182	15	of	of	ADP
globalce-260	182	16	the	the	DET
globalce-260	182	17	fabric	fabric	NOUN
globalce-260	182	18	and	and	CCONJ
globalce-260	182	19	those	those	PRON
globalce-260	182	20	of	of	ADP
globalce-260	182	21	gravity	gravity	NOUN
globalce-260	182	22	.	.	PUNCT
globalce-260	183	1	however	however	ADV
globalce-260	183	2	,	,	PUNCT
globalce-260	183	3	the	the	DET
globalce-260	183	4	simulation	simulation	NOUN
globalce-260	183	5	program	program	NOUN
globalce-260	183	6	does	do	AUX
globalce-260	183	7	not	not	PART
globalce-260	183	8	take	take	VERB
globalce-260	183	9	gravity	gravity	NOUN
globalce-260	183	10	into	into	ADP
globalce-260	183	11	account	account	NOUN
globalce-260	183	12	.	.	PUNCT
globalce-260	184	1	the	the	DET
globalce-260	184	2	maximum	maximum	PROPN
globalce-260	184	3	cutting	cutting	NOUN
globalce-260	184	4	and	and	CCONJ
globalce-260	184	5	spreading	spread	VERB
globalce-260	184	6	force	force	NOUN
globalce-260	184	7	is	be	AUX
globalce-260	184	8	from	from	ADP
globalce-260	184	9	3	3	NUM
globalce-260	184	10	n	n	PART
globalce-260	184	11	to	to	ADP
globalce-260	184	12	6	6	NUM
globalce-260	184	13	n.	n.	NOUN
globalce-260	184	14	suture	suture	NOUN
globalce-260	184	15	tasks	task	NOUN
globalce-260	184	16	force	force	NOUN
globalce-260	184	17	measurements	measurement	NOUN
globalce-260	184	18	show	show	VERB
globalce-260	184	19	liver	liver	NOUN
globalce-260	184	20	puncture	puncture	NOUN
globalce-260	184	21	up	up	ADP
globalce-260	184	22	to	to	PART
globalce-260	184	23	5	5	NUM
globalce-260	184	24	n	n	CCONJ
globalce-260	184	25	,	,	PUNCT
globalce-260	184	26	and	and	CCONJ
globalce-260	184	27	the	the	DET
globalce-260	184	28	required	require	VERB
globalce-260	184	29	gripping	grip	VERB
globalce-260	184	30	force	force	NOUN
globalce-260	184	31	is	be	AUX
globalce-260	184	32	3.45	3.45	NUM
globalce-260	184	33	n.	n.	NOUN
globalce-260	184	34	39–41	39–41	NUM
globalce-260	185	1	this	this	DET
globalce-260	185	2	information	information	NOUN
globalce-260	185	3	is	be	AUX
globalce-260	185	4	useful	useful	ADJ
globalce-260	185	5	for	for	ADP
globalce-260	185	6	realizing	realize	VERB
globalce-260	185	7	a	a	DET
globalce-260	185	8	3d	3d	NUM
globalce-260	185	9	augmented	augment	VERB
globalce-260	185	10	model	model	NOUN
globalce-260	185	11	.	.	PUNCT
globalce-260	186	1	a	a	DET
globalce-260	186	2	simulating	simulate	VERB
globalce-260	186	3	approach	approach	NOUN
globalce-260	186	4	of	of	ADP
globalce-260	186	5	liver	liver	NOUN
globalce-260	186	6	model	model	NOUN
globalce-260	186	7	response	response	NOUN
globalce-260	186	8	during	during	ADP
globalce-260	186	9	instrument	instrument	NOUN
globalce-260	186	10	interactions	interaction	NOUN
globalce-260	186	11	and	and	CCONJ
globalce-260	186	12	its	its	PRON
globalce-260	186	13	result	result	NOUN
globalce-260	186	14	a	a	DET
globalce-260	186	15	training	training	NOUN
globalce-260	186	16	simulation	simulation	NOUN
globalce-260	186	17	program	program	NOUN
globalce-260	186	18	(	(	PUNCT
globalce-260	186	19	tsp	tsp	NOUN
globalce-260	186	20	)	)	PUNCT
globalce-260	186	21	has	have	AUX
globalce-260	186	22	been	be	AUX
globalce-260	186	23	developed	develop	VERB
globalce-260	186	24	wherein	wherein	SCONJ
globalce-260	186	25	the	the	DET
globalce-260	186	26	3d	3d	NUM
globalce-260	186	27	extended	extended	ADJ
globalce-260	186	28	model	model	NOUN
globalce-260	186	29	response	response	NOUN
globalce-260	186	30	of	of	ADP
globalce-260	186	31	a	a	DET
globalce-260	186	32	human	human	ADJ
globalce-260	186	33	organ	organ	NOUN
globalce-260	186	34	upon	upon	SCONJ
globalce-260	186	35	impact	impact	NOUN
globalce-260	186	36	with	with	ADP
globalce-260	186	37	external	external	ADJ
globalce-260	186	38	objects	object	NOUN
globalce-260	186	39	.	.	PUNCT
globalce-260	187	1	the	the	DET
globalce-260	187	2	behavior	behavior	NOUN
globalce-260	187	3	of	of	ADP
globalce-260	187	4	the	the	DET
globalce-260	187	5	model	model	NOUN
globalce-260	187	6	is	be	AUX
globalce-260	187	7	represented	represent	VERB
globalce-260	187	8	by	by	ADP
globalce-260	187	9	the	the	DET
globalce-260	187	10	collision	collision	NOUN
globalce-260	187	11	of	of	ADP
globalce-260	187	12	figure	figure	NOUN
globalce-260	187	13	2	2	NUM
globalce-260	187	14	.	.	PUNCT
globalce-260	187	15	force	force	NOUN
globalce-260	187	16	measurements	measurement	NOUN
globalce-260	187	17	for	for	ADP
globalce-260	187	18	different	different	ADJ
globalce-260	187	19	samples	sample	NOUN
globalce-260	187	20	.	.	PUNCT
globalce-260	188	1	95	95	NUM
globalce-260	188	2	j	j	PROPN
globalce-260	188	3	global	global	ADJ
globalce-260	188	4	clinical	clinical	ADJ
globalce-260	188	5	engineering	engineering	NOUN
globalce-260	188	6	vol.7	vol.7	PROPN
globalce-260	188	7	issue	issue	NOUN
globalce-260	188	8	3	3	NUM
globalce-260	188	9	:	:	SYM
globalce-260	188	10	2025	2025	NUM
globalce-260	188	11	ivanova	ivanova	PROPN
globalce-260	188	12	,	,	PUNCT
globalce-260	188	13	vasilev	vasilev	NOUN
globalce-260	188	14	,	,	PUNCT
globalce-260	188	15	boneva	boneva	ADV
globalce-260	188	16	:	:	PUNCT
globalce-260	188	17	training	training	NOUN
globalce-260	188	18	of	of	ADP
globalce-260	188	19	surgical	surgical	ADJ
globalce-260	188	20	skills	skill	NOUN
globalce-260	188	21	by	by	ADP
globalce-260	188	22	a	a	DET
globalce-260	188	23	3d	3d	NUM
globalce-260	188	24	augmented	augment	VERB
globalce-260	188	25	liver	liver	NOUN
globalce-260	188	26	model	model	NOUN
globalce-260	188	27	response	response	NOUN
globalce-260	188	28	during	during	ADP
globalce-260	188	29	instrument	instrument	NOUN
globalce-260	188	30	interactions	interaction	NOUN
globalce-260	188	31	simulation	simulation	NOUN
globalce-260	188	32	two	two	NUM
globalce-260	188	33	solid	solid	ADJ
globalce-260	188	34	objects	object	NOUN
globalce-260	188	35	with	with	ADP
globalce-260	188	36	different	different	ADJ
globalce-260	188	37	physical	physical	ADJ
globalce-260	188	38	characteristics	characteristic	NOUN
globalce-260	188	39	.	.	PUNCT
globalce-260	189	1	the	the	DET
globalce-260	189	2	physical	physical	ADJ
globalce-260	189	3	properties	property	NOUN
globalce-260	189	4	of	of	ADP
globalce-260	189	5	the	the	DET
globalce-260	189	6	solids	solid	NOUN
globalce-260	189	7	are	be	AUX
globalce-260	189	8	transposed	transpose	VERB
globalce-260	189	9	to	to	ADP
globalce-260	189	10	“	"	PUNCT
globalce-260	189	11	physical	physical	ADJ
globalce-260	189	12	material	material	NOUN
globalce-260	189	13	”	"	PUNCT
globalce-260	189	14	properties	property	NOUN
globalce-260	189	15	that	that	PRON
globalce-260	189	16	enable	enable	VERB
globalce-260	189	17	the	the	DET
globalce-260	189	18	behavior	behavior	NOUN
globalce-260	189	19	of	of	ADP
globalce-260	189	20	the	the	DET
globalce-260	189	21	object	object	NOUN
globalce-260	189	22	in	in	ADP
globalce-260	189	23	the	the	DET
globalce-260	189	24	tsp	tsp	NOUN
globalce-260	189	25	.	.	PUNCT
globalce-260	190	1	the	the	DET
globalce-260	190	2	unity	unity	NOUN
globalce-260	190	3	game	game	NOUN
globalce-260	190	4	engine	engine	NOUN
globalce-260	190	5	is	be	AUX
globalce-260	190	6	used	use	VERB
globalce-260	190	7	for	for	ADP
globalce-260	190	8	the	the	DET
globalce-260	190	9	tsp	tsp	NOUN
globalce-260	190	10	,	,	PUNCT
globalce-260	190	11	which	which	PRON
globalce-260	190	12	is	be	AUX
globalce-260	190	13	intended	intend	VERB
globalce-260	190	14	for	for	ADP
globalce-260	190	15	developing	develop	VERB
globalce-260	190	16	graphical	graphical	ADJ
globalce-260	190	17	animations	animation	NOUN
globalce-260	190	18	for	for	ADP
globalce-260	190	19	conventional	conventional	ADJ
globalce-260	190	20	or	or	CCONJ
globalce-260	190	21	vr	vr	PROPN
globalce-260	190	22	/	/	SYM
globalce-260	190	23	ar	ar	NOUN
globalce-260	190	24	artificial	artificial	ADJ
globalce-260	190	25	representations	representation	NOUN
globalce-260	190	26	.	.	PUNCT
globalce-260	191	1	tsp	tsp	NOUN
globalce-260	191	2	includes	include	VERB
globalce-260	191	3	surface	surface	NOUN
globalce-260	191	4	manipulation	manipulation	NOUN
globalce-260	191	5	libraries	library	NOUN
globalce-260	191	6	such	such	ADJ
globalce-260	191	7	as	as	ADP
globalce-260	191	8	the	the	DET
globalce-260	191	9	mesh	mesh	NOUN
globalce-260	191	10	class	class	NOUN
globalce-260	191	11	.	.	PUNCT
globalce-260	192	1	meshes	mesh	NOUN
globalce-260	192	2	contain	contain	VERB
globalce-260	192	3	vertices	vertex	NOUN
globalce-260	192	4	and	and	CCONJ
globalce-260	192	5	multiple	multiple	ADJ
globalce-260	192	6	triangle	triangle	NOUN
globalce-260	192	7	arrays	array	VERB
globalce-260	192	8	with	with	ADP
globalce-260	192	9	corresponding	corresponding	ADJ
globalce-260	192	10	vertices	vertex	NOUN
globalce-260	192	11	.	.	PUNCT
globalce-260	193	1	all	all	DET
globalce-260	193	2	vertex	vertex	NOUN
globalce-260	193	3	information	information	NOUN
globalce-260	193	4	is	be	AUX
globalce-260	193	5	stored	store	VERB
globalce-260	193	6	in	in	ADP
globalce-260	193	7	separate	separate	ADJ
globalce-260	193	8	arrays	array	NOUN
globalce-260	193	9	of	of	ADP
globalce-260	193	10	the	the	DET
globalce-260	193	11	same	same	ADJ
globalce-260	193	12	size	size	NOUN
globalce-260	193	13	.	.	PUNCT
globalce-260	194	1	the	the	DET
globalce-260	194	2	mesh	mesh	NOUN
globalce-260	194	3	class	class	NOUN
globalce-260	194	4	,	,	PUNCT
globalce-260	194	5	along	along	ADP
globalce-260	194	6	with	with	ADP
globalce-260	194	7	its	its	PRON
globalce-260	194	8	vertices	vertex	NOUN
globalce-260	194	9	,	,	PUNCT
globalce-260	194	10	vectors	vector	NOUN
globalce-260	194	11	,	,	PUNCT
globalce-260	194	12	triangles	triangle	NOUN
globalce-260	194	13	,	,	PUNCT
globalce-260	194	14	and	and	CCONJ
globalce-260	194	15	normal	normal	ADJ
globalce-260	194	16	,	,	PUNCT
globalce-260	194	17	can	can	AUX
globalce-260	194	18	be	be	AUX
globalce-260	194	19	used	use	VERB
globalce-260	194	20	to	to	PART
globalce-260	194	21	deform	deform	VERB
globalce-260	194	22	a	a	DET
globalce-260	194	23	mesh	mesh	NOUN
globalce-260	194	24	grid	grid	NOUN
globalce-260	194	25	on	on	ADP
globalce-260	194	26	a	a	DET
globalce-260	194	27	3d	3d	NUM
globalce-260	194	28	object	object	NOUN
globalce-260	194	29	.	.	PUNCT
globalce-260	195	1	an	an	DET
globalce-260	195	2	example	example	NOUN
globalce-260	195	3	of	of	ADP
globalce-260	195	4	using	use	VERB
globalce-260	195	5	the	the	DET
globalce-260	195	6	mesh	mesh	NOUN
globalce-260	195	7	class	class	NOUN
globalce-260	195	8	to	to	PART
globalce-260	195	9	deform	deform	VERB
globalce-260	195	10	a	a	DET
globalce-260	195	11	3d	3d	NUM
globalce-260	195	12	object	object	NOUN
globalce-260	195	13	in	in	ADP
globalce-260	195	14	unity	unity	NOUN
globalce-260	195	15	(	(	PUNCT
globalce-260	195	16	see	see	VERB
globalce-260	195	17	figure	figure	NOUN
globalce-260	195	18	3	3	NUM
globalce-260	195	19	)	)	PUNCT
globalce-260	195	20	is	be	AUX
globalce-260	195	21	given	give	VERB
globalce-260	195	22	with	with	ADP
globalce-260	195	23	the	the	DET
globalce-260	195	24	script	script	NOUN
globalce-260	195	25	below	below	ADV
globalce-260	195	26	:	:	PUNCT
globalce-260	195	27	using	use	VERB
globalce-260	195	28	unityengine	unityengine	NOUN
globalce-260	195	29	;	;	PUNCT
globalce-260	195	30	public	public	ADJ
globalce-260	195	31	class	class	NOUN
globalce-260	195	32	example	example	NOUN
globalce-260	195	33	:	:	PUNCT
globalce-260	195	34	monobehaviour	monobehaviour	ADJ
globalce-260	195	35	{	{	PUNCT
globalce-260	195	36	void	void	ADJ
globalce-260	195	37	update	update	NOUN
globalce-260	195	38	(	(	PUNCT
globalce-260	195	39	)	)	PUNCT
globalce-260	195	40	{	{	PUNCT
globalce-260	195	41	mesh	mesh	NOUN
globalce-260	195	42	=	=	NOUN
globalce-260	195	43	getcomponent	getcomponent	NOUN
globalce-260	195	44	<	<	X
globalce-260	195	45	meshfilter>().mesh	meshfilter>().mesh	PROPN
globalce-260	195	46	;	;	PUNCT
globalce-260	195	47	vector3	vector3	PROPN
globalce-260	196	1	[	[	X
globalce-260	196	2	]	]	X
globalce-260	196	3	vertices	vertice	VERB
globalce-260	196	4	=	=	SYM
globalce-260	196	5	mesh.vertices	mesh.vertice	NOUN
globalce-260	196	6	;	;	PUNCT
globalce-260	196	7	for	for	ADP
globalce-260	196	8	(	(	PUNCT
globalce-260	196	9	int	int	NOUN
globalce-260	196	10	i	i	NOUN
globalce-260	196	11	=	=	NOUN
globalce-260	196	12	0	0	NUM
globalce-260	196	13	;	;	PUNCT
globalce-260	197	1	i	i	PRON
globalce-260	197	2	<	<	X
globalce-260	197	3	vertices.length	vertices.length	NOUN
globalce-260	197	4	;	;	PUNCT
globalce-260	197	5	i++	i++	X
globalce-260	197	6	)	)	PUNCT
globalce-260	197	7	{	{	PUNCT
globalce-260	197	8	//some	//some	PUNCT
globalce-260	197	9	conditional	conditional	ADJ
globalce-260	197	10	transformation	transformation	NOUN
globalce-260	197	11	for	for	ADP
globalce-260	197	12	example	example	NOUN
globalce-260	197	13	vertices[i	vertices[i	ADV
globalce-260	197	14	]	]	PUNCT
globalce-260	198	1	+	+	PUNCT
globalce-260	198	2	=	=	X
globalce-260	198	3	vector3.up	vector3.up	NOUN
globalce-260	198	4	*	*	PUNCT
globalce-260	198	5	time	time	NOUN
globalce-260	198	6	.	.	PUNCT
globalce-260	199	1	deltatime	deltatime	ADJ
globalce-260	199	2	;	;	PUNCT
globalce-260	199	3	}	}	PUNCT
globalce-260	199	4	mesh.vertices	mesh.vertice	NOUN
globalce-260	199	5	=	=	SYM
globalce-260	199	6	vertices	vertex	NOUN
globalce-260	199	7	;	;	PUNCT
globalce-260	199	8	mesh.recalculatenormals	mesh.recalculatenormal	NOUN
globalce-260	199	9	(	(	PUNCT
globalce-260	199	10	)	)	PUNCT
globalce-260	199	11	;	;	PUNCT
globalce-260	199	12	mesh.uploadmeshdata(false	mesh.uploadmeshdata(false	PROPN
globalce-260	199	13	)	)	PUNCT
globalce-260	199	14	;	;	PUNCT
globalce-260	199	15	}	}	PUNCT
globalce-260	199	16	}	}	PUNCT
globalce-260	199	17	if	if	SCONJ
globalce-260	199	18	the	the	DET
globalce-260	199	19	mesh	mesh	NOUN
globalce-260	199	20	surface	surface	NOUN
globalce-260	199	21	deformation	deformation	NOUN
globalce-260	199	22	has	have	VERB
globalce-260	199	23	to	to	PART
globalce-260	199	24	be	be	AUX
globalce-260	199	25	executed	execute	VERB
globalce-260	199	26	on	on	ADP
globalce-260	199	27	some	some	DET
globalce-260	199	28	event	event	NOUN
globalce-260	199	29	,	,	PUNCT
globalce-260	199	30	the	the	DET
globalce-260	199	31	void	void	ADJ
globalce-260	199	32	method	method	NOUN
globalce-260	199	33	start	start	NOUN
globalce-260	199	34	(	(	PUNCT
globalce-260	199	35	)	)	PUNCT
globalce-260	199	36	should	should	AUX
globalce-260	199	37	be	be	AUX
globalce-260	199	38	invoked	invoke	VERB
globalce-260	199	39	.	.	PUNCT
globalce-260	200	1	void	void	ADJ
globalce-260	200	2	start	start	NOUN
globalce-260	200	3	(	(	PUNCT
globalce-260	200	4	)	)	PUNCT
globalce-260	200	5	{	{	PUNCT
globalce-260	200	6	mesh	mesh	NOUN
globalce-260	200	7	=	=	NOUN
globalce-260	200	8	getcomponent	getcomponent	NOUN
globalce-260	200	9	<	<	X
globalce-260	200	10	meshfilter>().mesh	meshfilter>().mesh	PROPN
globalce-260	200	11	;	;	PUNCT
globalce-260	200	12	mesh.clear	mesh.clear	PROPN
globalce-260	200	13	(	(	PUNCT
globalce-260	200	14	)	)	PUNCT
globalce-260	200	15	;	;	PUNCT
globalce-260	200	16	//preserves	//preserves	PUNCT
globalce-260	200	17	the	the	DET
globalce-260	200	18	existing	exist	VERB
globalce-260	200	19	mesh	mesh	NOUN
globalce-260	200	20	vertex	vertex	NOUN
globalce-260	200	21	positions	position	NOUN
globalce-260	200	22	//do	//do	PUNCT
globalce-260	201	1	some	some	DET
globalce-260	201	2	calculations	calculation	NOUN
globalce-260	201	3	with	with	ADP
globalce-260	201	4	the	the	DET
globalce-260	201	5	mesh.vertices	mesh.vertices	PROPN
globalce-260	201	6	and	and	CCONJ
globalce-260	201	7	mesh	mesh	NOUN
globalce-260	201	8	triangles	triangle	NOUN
globalce-260	201	9	}	}	PUNCT
globalce-260	201	10	figure	figure	VERB
globalce-260	201	11	3	3	NUM
globalce-260	201	12	shows	show	VERB
globalce-260	201	13	an	an	DET
globalce-260	201	14	example	example	NOUN
globalce-260	201	15	of	of	ADP
globalce-260	201	16	the	the	DET
globalce-260	201	17	usage	usage	NOUN
globalce-260	201	18	of	of	ADP
globalce-260	201	19	the	the	DET
globalce-260	201	20	mesh	mesh	NOUN
globalce-260	201	21	class	class	NOUN
globalce-260	201	22	for	for	ADP
globalce-260	201	23	deformation	deformation	NOUN
globalce-260	201	24	of	of	ADP
globalce-260	201	25	a	a	DET
globalce-260	201	26	3d	3d	NUM
globalce-260	201	27	object	object	NOUN
globalce-260	201	28	in	in	ADP
globalce-260	201	29	unity	unity	NOUN
globalce-260	201	30	.	.	PUNCT
globalce-260	202	1	software	software	NOUN
globalce-260	202	2	architecture	architecture	VERB
globalce-260	202	3	the	the	DET
globalce-260	202	4	information	information	NOUN
globalce-260	202	5	from	from	ADP
globalce-260	202	6	the	the	DET
globalce-260	202	7	experiments	experiment	NOUN
globalce-260	202	8	performed	perform	VERB
globalce-260	202	9	with	with	ADP
globalce-260	202	10	different	different	ADJ
globalce-260	202	11	tips	tip	NOUN
globalce-260	202	12	of	of	ADP
globalce-260	202	13	the	the	DET
globalce-260	202	14	laparoscopic	laparoscopic	NOUN
globalce-260	202	15	instrument	instrument	NOUN
globalce-260	202	16	and	and	CCONJ
globalce-260	202	17	different	different	ADJ
globalce-260	202	18	biological	biological	ADJ
globalce-260	202	19	tissues	tissue	NOUN
globalce-260	202	20	is	be	AUX
globalce-260	202	21	recorded	record	VERB
globalce-260	202	22	in	in	ADP
globalce-260	202	23	a	a	DET
globalce-260	202	24	database	database	NOUN
globalce-260	202	25	that	that	PRON
globalce-260	202	26	has	have	VERB
globalce-260	202	27	a	a	DET
globalce-260	202	28	connection	connection	NOUN
globalce-260	202	29	with	with	ADP
globalce-260	202	30	the	the	DET
globalce-260	202	31	database	database	NOUN
globalce-260	202	32	of	of	ADP
globalce-260	202	33	the	the	DET
globalce-260	202	34	application	application	NOUN
globalce-260	202	35	(	(	PUNCT
globalce-260	202	36	developed	develop	VERB
globalce-260	202	37	on	on	ADP
globalce-260	202	38	the	the	DET
globalce-260	202	39	basis	basis	NOUN
globalce-260	202	40	of	of	ADP
globalce-260	202	41	mysql	mysql	NOUN
globalce-260	202	42	)	)	PUNCT
globalce-260	202	43	.	.	PUNCT
globalce-260	203	1	the	the	DET
globalce-260	203	2	databases	database	NOUN
globalce-260	203	3	are	be	AUX
globalce-260	203	4	structured	structure	VERB
globalce-260	203	5	as	as	ADP
globalce-260	203	6	a	a	DET
globalce-260	203	7	collection	collection	NOUN
globalce-260	203	8	of	of	ADP
globalce-260	203	9	directories	directory	NOUN
globalce-260	203	10	,	,	PUNCT
globalce-260	203	11	one	one	NUM
globalce-260	203	12	for	for	ADP
globalce-260	203	13	each	each	DET
globalce-260	203	14	student	student	NOUN
globalce-260	203	15	(	(	PUNCT
globalce-260	203	16	surgeon	surgeon	PROPN
globalce-260	203	17	)	)	PUNCT
globalce-260	203	18	,	,	PUNCT
globalce-260	203	19	with	with	ADP
globalce-260	203	20	each	each	DET
globalce-260	203	21	directory	directory	NOUN
globalce-260	203	22	carrying	carry	VERB
globalce-260	203	23	its	its	PRON
globalce-260	203	24	own	own	ADJ
globalce-260	203	25	i	i	PROPN
globalce-260	203	26	d	d	NOUN
globalce-260	203	27	number	number	NOUN
globalce-260	203	28	(	(	PUNCT
globalce-260	203	29	for	for	ADP
globalce-260	203	30	students	student	NOUN
globalce-260	203	31	,	,	PUNCT
globalce-260	203	32	this	this	PRON
globalce-260	203	33	may	may	AUX
globalce-260	203	34	be	be	AUX
globalce-260	203	35	a	a	DET
globalce-260	203	36	faculty	faculty	NOUN
globalce-260	203	37	number	number	NOUN
globalce-260	203	38	)	)	PUNCT
globalce-260	203	39	.	.	PUNCT
globalce-260	204	1	each	each	PRON
globalce-260	204	2	of	of	ADP
globalce-260	204	3	the	the	DET
globalce-260	204	4	directories	directory	NOUN
globalce-260	204	5	is	be	AUX
globalce-260	204	6	a	a	DET
globalce-260	204	7	collection	collection	NOUN
globalce-260	204	8	of	of	ADP
globalce-260	204	9	subdirectories	subdirectory	NOUN
globalce-260	204	10	as	as	SCONJ
globalce-260	204	11	follows	follow	VERB
globalce-260	204	12	:	:	PUNCT
globalce-260	204	13	figure	figure	NOUN
globalce-260	204	14	3	3	NUM
globalce-260	204	15	.	.	PUNCT
globalce-260	205	1	a	a	DET
globalce-260	205	2	3d	3d	NUM
globalce-260	205	3	augmented	augment	VERB
globalce-260	205	4	model	model	NOUN
globalce-260	205	5	with	with	ADP
globalce-260	205	6	mesh	mesh	NOUN
globalce-260	205	7	collider	collider	NOUN
globalce-260	205	8	in	in	ADP
globalce-260	205	9	unity	unity	NOUN
globalce-260	205	10	.	.	PUNCT
globalce-260	206	1	ivanova	ivanova	PROPN
globalce-260	206	2	,	,	PUNCT
globalce-260	206	3	vasilev	vasilev	NOUN
globalce-260	206	4	,	,	PUNCT
globalce-260	206	5	boneva	boneva	ADV
globalce-260	206	6	:	:	PUNCT
globalce-260	206	7	training	training	NOUN
globalce-260	206	8	of	of	ADP
globalce-260	206	9	surgical	surgical	ADJ
globalce-260	206	10	skills	skill	NOUN
globalce-260	206	11	by	by	ADP
globalce-260	206	12	a	a	DET
globalce-260	206	13	3d	3d	NUM
globalce-260	206	14	augmented	augment	VERB
globalce-260	206	15	liver	liver	NOUN
globalce-260	206	16	model	model	NOUN
globalce-260	206	17	response	response	NOUN
globalce-260	206	18	during	during	ADP
globalce-260	206	19	instrument	instrument	NOUN
globalce-260	206	20	interactions	interaction	NOUN
globalce-260	206	21	simulation	simulation	NOUN
globalce-260	206	22	j	j	PROPN
globalce-260	206	23	global	global	ADJ
globalce-260	206	24	clinical	clinical	ADJ
globalce-260	206	25	engineering	engineering	NOUN
globalce-260	206	26	vol.7	vol.7	PROPN
globalce-260	206	27	issue	issue	NOUN
globalce-260	206	28	3	3	NUM
globalce-260	206	29	:	:	SYM
globalce-260	206	30	2025	2025	NUM
globalce-260	206	31	96	96	NUM
globalce-260	206	32	•	•	NUM
globalce-260	206	33	personal	personal	ADJ
globalce-260	206	34	data	datum	NOUN
globalce-260	206	35	for	for	ADP
globalce-260	206	36	the	the	DET
globalce-260	206	37	student	student	NOUN
globalce-260	206	38	/	/	SYM
globalce-260	206	39	surgeon	surgeon	PROPN
globalce-260	206	40	(	(	PUNCT
globalce-260	206	41	three	three	NUM
globalce-260	206	42	names	name	NOUN
globalce-260	206	43	,	,	PUNCT
globalce-260	206	44	social	social	ADJ
globalce-260	206	45	security	security	NOUN
globalce-260	206	46	number	number	NOUN
globalce-260	206	47	,	,	PUNCT
globalce-260	206	48	etc	etc	X
globalce-260	206	49	.	.	X
globalce-260	206	50	)	)	PUNCT
globalce-260	206	51	.	.	PUNCT
globalce-260	207	1	only	only	ADV
globalce-260	207	2	the	the	DET
globalce-260	207	3	learner	learner	NOUN
globalce-260	207	4	and	and	CCONJ
globalce-260	207	5	the	the	DET
globalce-260	207	6	teacher	teacher	NOUN
globalce-260	207	7	can	can	AUX
globalce-260	207	8	access	access	VERB
globalce-260	207	9	this	this	DET
globalce-260	207	10	subdirectory	subdirectory	NOUN
globalce-260	207	11	;	;	PUNCT
globalce-260	207	12	•	•	NUM
globalce-260	207	13	subdirectory	subdirectory	NOUN
globalce-260	207	14	with	with	ADP
globalce-260	207	15	information	information	NOUN
globalce-260	207	16	about	about	ADP
globalce-260	207	17	conducted	conduct	VERB
globalce-260	207	18	experiments	experiment	NOUN
globalce-260	207	19	and	and	CCONJ
globalce-260	207	20	their	their	PRON
globalce-260	207	21	results	result	NOUN
globalce-260	207	22	in	in	ADP
globalce-260	207	23	text	text	NOUN
globalce-260	207	24	and	and	CCONJ
globalce-260	207	25	graphic	graphic	ADJ
globalce-260	207	26	forms	form	NOUN
globalce-260	207	27	;	;	PUNCT
globalce-260	208	1	•	•	NUM
globalce-260	208	2	evaluation	evaluation	NOUN
globalce-260	208	3	of	of	ADP
globalce-260	208	4	the	the	DET
globalce-260	208	5	achieved	achieve	VERB
globalce-260	208	6	results	result	NOUN
globalce-260	208	7	and	and	CCONJ
globalce-260	208	8	attestation	attestation	NOUN
globalce-260	208	9	of	of	ADP
globalce-260	208	10	the	the	DET
globalce-260	208	11	student	student	NOUN
globalce-260	208	12	/	/	SYM
globalce-260	208	13	surgeon	surgeon	NOUN
globalce-260	208	14	;	;	PUNCT
globalce-260	208	15	•	•	NUM
globalce-260	208	16	other	other	ADJ
globalce-260	208	17	information	information	NOUN
globalce-260	208	18	required	require	VERB
globalce-260	208	19	by	by	ADP
globalce-260	208	20	the	the	DET
globalce-260	208	21	relevant	relevant	ADJ
globalce-260	208	22	university	university	NOUN
globalce-260	208	23	or	or	CCONJ
globalce-260	208	24	medical	medical	ADJ
globalce-260	208	25	facility	facility	NOUN
globalce-260	208	26	.	.	PUNCT
globalce-260	209	1	at	at	ADP
globalce-260	209	2	the	the	DET
globalce-260	209	3	discretion	discretion	NOUN
globalce-260	209	4	of	of	ADP
globalce-260	209	5	the	the	DET
globalce-260	209	6	institution	institution	NOUN
globalce-260	209	7	/	/	SYM
globalce-260	209	8	clinic	clinic	NOUN
globalce-260	209	9	concerned	concern	VERB
globalce-260	209	10	,	,	PUNCT
globalce-260	209	11	subdirectories	subdirectory	NOUN
globalce-260	209	12	of	of	ADP
globalce-260	209	13	experimental	experimental	ADJ
globalce-260	209	14	results	result	NOUN
globalce-260	209	15	may	may	AUX
globalce-260	209	16	be	be	AUX
globalce-260	209	17	made	make	VERB
globalce-260	209	18	publicly	publicly	ADV
globalce-260	209	19	available	available	ADJ
globalce-260	209	20	to	to	PART
globalce-260	209	21	allow	allow	VERB
globalce-260	209	22	for	for	ADP
globalce-260	209	23	comparisons	comparison	NOUN
globalce-260	209	24	and	and	CCONJ
globalce-260	209	25	solutions	solution	NOUN
globalce-260	209	26	for	for	ADP
globalce-260	209	27	further	further	ADJ
globalce-260	209	28	simulations	simulation	NOUN
globalce-260	209	29	.	.	PUNCT
globalce-260	210	1	it	it	PRON
globalce-260	210	2	is	be	AUX
globalce-260	210	3	planned	plan	VERB
globalce-260	210	4	that	that	SCONJ
globalce-260	210	5	the	the	DET
globalce-260	210	6	information	information	NOUN
globalce-260	210	7	accumulated	accumulate	VERB
globalce-260	210	8	in	in	ADP
globalce-260	210	9	the	the	DET
globalce-260	210	10	relevant	relevant	ADJ
globalce-260	210	11	databases	database	NOUN
globalce-260	210	12	will	will	AUX
globalce-260	210	13	be	be	AUX
globalce-260	210	14	stored	store	VERB
globalce-260	210	15	on	on	ADP
globalce-260	210	16	a	a	DET
globalce-260	210	17	local	local	ADJ
globalce-260	210	18	operator	operator	NOUN
globalce-260	210	19	station	station	NOUN
globalce-260	210	20	,	,	PUNCT
globalce-260	210	21	a	a	DET
globalce-260	210	22	server	server	NOUN
globalce-260	210	23	of	of	ADP
globalce-260	210	24	the	the	DET
globalce-260	210	25	relevant	relevant	ADJ
globalce-260	210	26	university	university	NOUN
globalce-260	210	27	/	/	SYM
globalce-260	210	28	clinic	clinic	NOUN
globalce-260	210	29	,	,	PUNCT
globalce-260	210	30	or	or	CCONJ
globalce-260	210	31	a	a	DET
globalce-260	210	32	cloud	cloud	ADJ
globalce-260	210	33	medical	medical	ADJ
globalce-260	210	34	server	server	NOUN
globalce-260	210	35	,	,	PUNCT
globalce-260	210	36	on	on	ADP
globalce-260	210	37	which	which	PRON
globalce-260	210	38	more	more	ADV
globalce-260	210	39	important	important	ADJ
globalce-260	210	40	results	result	NOUN
globalce-260	210	41	of	of	ADP
globalce-260	210	42	conducted	conduct	VERB
globalce-260	210	43	experiments	experiment	NOUN
globalce-260	210	44	will	will	AUX
globalce-260	210	45	be	be	AUX
globalce-260	210	46	published	publish	VERB
globalce-260	210	47	.	.	PUNCT
globalce-260	211	1	each	each	DET
globalce-260	211	2	student	student	NOUN
globalce-260	211	3	/	/	SYM
globalce-260	211	4	surgeon	surgeon	NOUN
globalce-260	211	5	can	can	AUX
globalce-260	211	6	save	save	VERB
globalce-260	211	7	their	their	PRON
globalce-260	211	8	information	information	NOUN
globalce-260	211	9	on	on	ADP
globalce-260	211	10	their	their	PRON
globalce-260	211	11	mobile	mobile	ADJ
globalce-260	211	12	phone	phone	NOUN
globalce-260	211	13	or	or	CCONJ
globalce-260	211	14	on	on	ADP
globalce-260	211	15	a	a	DET
globalce-260	211	16	processor	processor	NOUN
globalce-260	211	17	card	card	NOUN
globalce-260	211	18	.	.	PUNCT
globalce-260	212	1	by	by	ADP
globalce-260	212	2	their	their	PRON
globalce-260	212	3	nature	nature	NOUN
globalce-260	212	4	,	,	PUNCT
globalce-260	212	5	processor	processor	NOUN
globalce-260	212	6	cards	card	NOUN
globalce-260	212	7	have	have	VERB
globalce-260	212	8	the	the	DET
globalce-260	212	9	same	same	ADJ
globalce-260	212	10	appearance	appearance	NOUN
globalce-260	212	11	as	as	ADP
globalce-260	212	12	telephone	telephone	NOUN
globalce-260	212	13	cards	card	NOUN
globalce-260	212	14	.	.	PUNCT
globalce-260	213	1	however	however	ADV
globalce-260	213	2	,	,	PUNCT
globalce-260	213	3	phone	phone	NOUN
globalce-260	213	4	cards	card	NOUN
globalce-260	213	5	only	only	ADV
globalce-260	213	6	have	have	VERB
globalce-260	213	7	memory	memory	NOUN
globalce-260	213	8	,	,	PUNCT
globalce-260	213	9	while	while	SCONJ
globalce-260	213	10	electronic	electronic	ADJ
globalce-260	213	11	chip	chip	NOUN
globalce-260	213	12	cards	card	NOUN
globalce-260	213	13	contain	contain	VERB
globalce-260	213	14	a	a	DET
globalce-260	213	15	processor	processor	NOUN
globalce-260	213	16	.	.	PUNCT
globalce-260	214	1	the	the	DET
globalce-260	214	2	reprogrammable	reprogrammable	ADJ
globalce-260	214	3	memory	memory	NOUN
globalce-260	214	4	acts	act	VERB
globalce-260	214	5	as	as	ADP
globalce-260	214	6	a	a	DET
globalce-260	214	7	hard	hard	ADJ
globalce-260	214	8	disk	disk	NOUN
globalce-260	214	9	for	for	ADP
globalce-260	214	10	the	the	DET
globalce-260	214	11	card	card	NOUN
globalce-260	214	12	—	—	PUNCT
globalce-260	214	13	the	the	DET
globalce-260	214	14	data	datum	NOUN
globalce-260	214	15	stored	store	VERB
globalce-260	214	16	in	in	ADP
globalce-260	214	17	this	this	DET
globalce-260	214	18	memory	memory	NOUN
globalce-260	214	19	retains	retain	VERB
globalce-260	214	20	its	its	PRON
globalce-260	214	21	values	value	NOUN
globalce-260	214	22	after	after	SCONJ
globalce-260	214	23	the	the	DET
globalce-260	214	24	supply	supply	NOUN
globalce-260	214	25	voltage	voltage	NOUN
globalce-260	214	26	is	be	AUX
globalce-260	214	27	turned	turn	VERB
globalce-260	214	28	off.42	off.42	NOUN
globalce-260	214	29	the	the	DET
globalce-260	214	30	introduction	introduction	NOUN
globalce-260	214	31	of	of	ADP
globalce-260	214	32	processor	processor	NOUN
globalce-260	214	33	cards	card	NOUN
globalce-260	214	34	in	in	ADP
globalce-260	214	35	the	the	DET
globalce-260	214	36	educational	educational	ADJ
globalce-260	214	37	system	system	NOUN
globalce-260	214	38	in	in	ADP
globalce-260	214	39	bulgaria	bulgaria	PROPN
globalce-260	214	40	will	will	AUX
globalce-260	214	41	allow	allow	VERB
globalce-260	214	42	the	the	DET
globalce-260	214	43	replacement	replacement	NOUN
globalce-260	214	44	of	of	ADP
globalce-260	214	45	existing	exist	VERB
globalce-260	214	46	paper	paper	NOUN
globalce-260	214	47	student	student	NOUN
globalce-260	214	48	books	book	NOUN
globalce-260	214	49	with	with	ADP
globalce-260	214	50	electronic	electronic	ADJ
globalce-260	214	51	ones	one	NOUN
globalce-260	214	52	,	,	PUNCT
globalce-260	214	53	which	which	PRON
globalce-260	214	54	will	will	AUX
globalce-260	214	55	guarantee	guarantee	VERB
globalce-260	214	56	greater	great	ADJ
globalce-260	214	57	reliability	reliability	NOUN
globalce-260	214	58	,	,	PUNCT
globalce-260	214	59	security	security	NOUN
globalce-260	214	60	of	of	ADP
globalce-260	214	61	information	information	NOUN
globalce-260	214	62	,	,	PUNCT
globalce-260	214	63	and	and	CCONJ
globalce-260	214	64	access	access	NOUN
globalce-260	214	65	to	to	ADP
globalce-260	214	66	student	student	NOUN
globalce-260	214	67	data	datum	NOUN
globalce-260	214	68	at	at	ADP
globalce-260	214	69	all	all	DET
globalce-260	214	70	levels	level	NOUN
globalce-260	214	71	of	of	ADP
globalce-260	214	72	educational	educational	ADJ
globalce-260	214	73	institutions	institution	NOUN
globalce-260	214	74	.	.	PUNCT
globalce-260	215	1	data	datum	NOUN
globalce-260	215	2	change	change	NOUN
globalce-260	215	3	is	be	AUX
globalce-260	215	4	associated	associate	VERB
globalce-260	215	5	with	with	ADP
globalce-260	215	6	different	different	ADJ
globalce-260	215	7	priority	priority	NOUN
globalce-260	215	8	levels	level	NOUN
globalce-260	215	9	.	.	PUNCT
globalce-260	216	1	each	each	DET
globalce-260	216	2	teacher	teacher	NOUN
globalce-260	216	3	will	will	AUX
globalce-260	216	4	have	have	VERB
globalce-260	216	5	a	a	DET
globalce-260	216	6	unique	unique	ADJ
globalce-260	216	7	number	number	NOUN
globalce-260	216	8	/	/	SYM
globalce-260	216	9	password	password	NOUN
globalce-260	216	10	to	to	PART
globalce-260	216	11	change	change	VERB
globalce-260	216	12	the	the	DET
globalce-260	216	13	data	datum	NOUN
globalce-260	216	14	in	in	ADP
globalce-260	216	15	the	the	DET
globalce-260	216	16	cards	card	NOUN
globalce-260	216	17	of	of	ADP
globalce-260	216	18	students	student	NOUN
globalce-260	216	19	/	/	SYM
globalce-260	216	20	surgeons	surgeon	NOUN
globalce-260	216	21	.	.	PUNCT
globalce-260	217	1	the	the	DET
globalce-260	217	2	solution	solution	NOUN
globalce-260	217	3	assumes	assume	VERB
globalce-260	217	4	that	that	SCONJ
globalce-260	217	5	each	each	DET
globalce-260	217	6	classroom	classroom	NOUN
globalce-260	217	7	is	be	AUX
globalce-260	217	8	equipped	equip	VERB
globalce-260	217	9	with	with	ADP
globalce-260	217	10	a	a	DET
globalce-260	217	11	personal	personal	ADJ
globalce-260	217	12	computer	computer	NOUN
globalce-260	217	13	with	with	ADP
globalce-260	217	14	a	a	DET
globalce-260	217	15	minimum	minimum	ADJ
globalce-260	217	16	configuration	configuration	NOUN
globalce-260	217	17	that	that	PRON
globalce-260	217	18	allows	allow	VERB
globalce-260	217	19	work	work	NOUN
globalce-260	217	20	in	in	ADP
globalce-260	217	21	the	the	DET
globalce-260	217	22	windows	window	NOUN
globalce-260	217	23	operating	operating	NOUN
globalce-260	217	24	system	system	NOUN
globalce-260	217	25	.	.	PUNCT
globalce-260	218	1	the	the	DET
globalce-260	218	2	database	database	NOUN
globalce-260	218	3	will	will	AUX
globalce-260	218	4	be	be	AUX
globalce-260	218	5	installed	instal	VERB
globalce-260	218	6	on	on	ADP
globalce-260	218	7	the	the	DET
globalce-260	218	8	teacher	teacher	NOUN
globalce-260	218	9	’s	’s	PART
globalce-260	218	10	personal	personal	ADJ
globalce-260	218	11	computer	computer	NOUN
globalce-260	218	12	,	,	PUNCT
globalce-260	218	13	as	as	ADV
globalce-260	218	14	well	well	ADV
globalce-260	218	15	as	as	ADP
globalce-260	218	16	the	the	DET
globalce-260	218	17	terminal	terminal	ADJ
globalce-260	218	18	program	program	NOUN
globalce-260	218	19	allowing	allow	VERB
globalce-260	218	20	working	work	VERB
globalce-260	218	21	with	with	ADP
globalce-260	218	22	the	the	DET
globalce-260	218	23	processor	processor	NOUN
globalce-260	218	24	cards	card	NOUN
globalce-260	218	25	.	.	PUNCT
globalce-260	219	1	each	each	DET
globalce-260	219	2	student	student	NOUN
globalce-260	219	3	/	/	SYM
globalce-260	219	4	surgeon	surgeon	NOUN
globalce-260	219	5	must	must	AUX
globalce-260	219	6	be	be	AUX
globalce-260	219	7	provided	provide	VERB
globalce-260	219	8	with	with	ADP
globalce-260	219	9	a	a	DET
globalce-260	219	10	basic	basic	ADJ
globalce-260	219	11	card	card	NOUN
globalce-260	219	12	zc2.3	zc2.3	NUM
globalce-260	219	13	processor	processor	NOUN
globalce-260	219	14	card	card	NOUN
globalce-260	219	15	(	(	PUNCT
globalce-260	219	16	or	or	CCONJ
globalce-260	219	17	similar	similar	ADJ
globalce-260	219	18	)	)	PUNCT
globalce-260	219	19	upon	upon	SCONJ
globalce-260	219	20	commencement	commencement	NOUN
globalce-260	219	21	of	of	ADP
globalce-260	219	22	training	training	NOUN
globalce-260	219	23	by	by	ADP
globalce-260	219	24	the	the	DET
globalce-260	219	25	instructor	instructor	NOUN
globalce-260	219	26	.	.	PUNCT
globalce-260	220	1	the	the	DET
globalce-260	220	2	teacher	teacher	NOUN
globalce-260	220	3	or	or	CCONJ
globalce-260	220	4	another	another	DET
globalce-260	220	5	person	person	NOUN
globalce-260	220	6	authorized	authorize	VERB
globalce-260	220	7	for	for	ADP
globalce-260	220	8	this	this	DET
globalce-260	220	9	activity	activity	NOUN
globalce-260	220	10	personalizes	personalize	VERB
globalce-260	220	11	the	the	DET
globalce-260	220	12	card	card	NOUN
globalce-260	220	13	using	use	VERB
globalce-260	220	14	the	the	DET
globalce-260	220	15	personal	personal	ADJ
globalce-260	220	16	computer	computer	NOUN
globalce-260	220	17	and	and	CCONJ
globalce-260	220	18	the	the	DET
globalce-260	220	19	included	include	VERB
globalce-260	220	20	reading	read	VERB
globalce-260	220	21	device.42	device.42	NOUN
globalce-260	220	22	various	various	ADJ
globalce-260	220	23	means	mean	NOUN
globalce-260	220	24	of	of	ADP
globalce-260	220	25	controlling	control	VERB
globalce-260	220	26	access	access	NOUN
globalce-260	220	27	to	to	ADP
globalce-260	220	28	the	the	DET
globalce-260	220	29	information	information	NOUN
globalce-260	220	30	are	be	AUX
globalce-260	220	31	provided	provide	VERB
globalce-260	220	32	,	,	PUNCT
globalce-260	220	33	such	such	ADJ
globalce-260	220	34	as	as	ADP
globalce-260	220	35	the	the	DET
globalce-260	220	36	use	use	NOUN
globalce-260	220	37	of	of	ADP
globalce-260	220	38	passwords	password	NOUN
globalce-260	220	39	,	,	PUNCT
globalce-260	220	40	qr	qr	NOUN
globalce-260	220	41	codes	code	NOUN
globalce-260	220	42	(	(	PUNCT
globalce-260	220	43	for	for	ADP
globalce-260	220	44	mobile	mobile	ADJ
globalce-260	220	45	phones),43	phones),43	NOUN
globalce-260	220	46	ecg,44	ecg,44	ADJ
globalce-260	220	47	or	or	CCONJ
globalce-260	220	48	an	an	DET
globalce-260	220	49	identification	identification	NOUN
globalce-260	220	50	chip	chip	NOUN
globalce-260	220	51	of	of	ADP
globalce-260	220	52	the	the	DET
globalce-260	220	53	company	company	NOUN
globalce-260	220	54	dallas	dallas	PROPN
globalce-260	220	55	semiconductor	semiconductor	NOUN
globalce-260	220	56	/	/	SYM
globalce-260	220	57	maxim	maxim	NOUN
globalce-260	220	58	-	-	PUNCT
globalce-260	220	59	ds9490b45	ds9490b45	NOUN
globalce-260	220	60	(	(	PUNCT
globalce-260	220	61	for	for	ADP
globalce-260	220	62	access	access	NOUN
globalce-260	220	63	to	to	ADP
globalce-260	220	64	the	the	DET
globalce-260	220	65	software	software	NOUN
globalce-260	220	66	installed	instal	VERB
globalce-260	220	67	on	on	ADP
globalce-260	220	68	the	the	DET
globalce-260	220	69	teacher	teacher	NOUN
globalce-260	220	70	’s	’s	PART
globalce-260	220	71	personal	personal	ADJ
globalce-260	220	72	computer	computer	NOUN
globalce-260	220	73	/	/	SYM
globalce-260	220	74	laptop	laptop	NOUN
globalce-260	220	75	)	)	PUNCT
globalce-260	220	76	.	.	PUNCT
globalce-260	221	1	the	the	DET
globalce-260	221	2	ecg	ecg	PROPN
globalce-260	221	3	device	device	NOUN
globalce-260	221	4	as	as	ADP
globalce-260	221	5	a	a	DET
globalce-260	221	6	means	means	NOUN
globalce-260	221	7	of	of	ADP
globalce-260	221	8	access	access	NOUN
globalce-260	221	9	control	control	NOUN
globalce-260	221	10	is	be	AUX
globalce-260	221	11	proposed	propose	VERB
globalce-260	221	12	because	because	SCONJ
globalce-260	221	13	one	one	PRON
globalce-260	221	14	has	have	AUX
globalce-260	221	15	already	already	ADV
globalce-260	221	16	been	be	AUX
globalce-260	221	17	developed	develop	VERB
globalce-260	221	18	for	for	ADP
globalce-260	221	19	the	the	DET
globalce-260	221	20	modular	modular	ADJ
globalce-260	221	21	laparoscopic	laparoscopic	NOUN
globalce-260	221	22	system	system	NOUN
globalce-260	221	23	described	describe	VERB
globalce-260	221	24	above	above	ADV
globalce-260	221	25	.	.	PUNCT
globalce-260	222	1	at	at	ADP
globalce-260	222	2	this	this	DET
globalce-260	222	3	stage	stage	NOUN
globalce-260	222	4	,	,	PUNCT
globalce-260	222	5	access	access	NOUN
globalce-260	222	6	control	control	NOUN
globalce-260	222	7	and	and	CCONJ
globalce-260	222	8	information	information	NOUN
globalce-260	222	9	protection	protection	NOUN
globalce-260	222	10	tools	tool	NOUN
globalce-260	222	11	are	be	AUX
globalce-260	222	12	based	base	VERB
globalce-260	222	13	on	on	ADP
globalce-260	222	14	the	the	DET
globalce-260	222	15	team	team	NOUN
globalce-260	222	16	’s	’s	PART
globalce-260	222	17	accumulated	accumulate	VERB
globalce-260	222	18	experience	experience	NOUN
globalce-260	222	19	in	in	ADP
globalce-260	222	20	this	this	DET
globalce-260	222	21	area	area	NOUN
globalce-260	222	22	.	.	PUNCT
globalce-260	223	1	information	information	NOUN
globalce-260	223	2	encryption	encryption	NOUN
globalce-260	223	3	tools	tool	NOUN
globalce-260	223	4	are	be	AUX
globalce-260	223	5	an	an	DET
globalce-260	223	6	important	important	ADJ
globalce-260	223	7	element	element	NOUN
globalce-260	223	8	in	in	ADP
globalce-260	223	9	building	build	VERB
globalce-260	223	10	a	a	DET
globalce-260	223	11	medical	medical	ADJ
globalce-260	223	12	security	security	NOUN
globalce-260	223	13	system	system	NOUN
globalce-260	223	14	.	.	PUNCT
globalce-260	224	1	this	this	DET
globalce-260	224	2	fact	fact	NOUN
globalce-260	224	3	is	be	AUX
globalce-260	224	4	a	a	DET
globalce-260	224	5	consequence	consequence	NOUN
globalce-260	224	6	of	of	ADP
globalce-260	224	7	the	the	DET
globalce-260	224	8	requirements	requirement	NOUN
globalce-260	224	9	that	that	SCONJ
globalce-260	224	10	personal	personal	ADJ
globalce-260	224	11	data	datum	NOUN
globalce-260	224	12	be	be	AUX
globalce-260	224	13	protected	protect	VERB
globalce-260	224	14	,	,	PUNCT
globalce-260	224	15	both	both	CCONJ
globalce-260	224	16	at	at	ADP
globalce-260	224	17	the	the	DET
globalce-260	224	18	local	local	ADJ
globalce-260	224	19	operator	operator	NOUN
globalce-260	224	20	stations	station	NOUN
globalce-260	224	21	and	and	CCONJ
globalce-260	224	22	on	on	ADP
globalce-260	224	23	the	the	DET
globalce-260	224	24	way	way	NOUN
globalce-260	224	25	to	to	ADP
globalce-260	224	26	another	another	DET
globalce-260	224	27	destination	destination	NOUN
globalce-260	224	28	.	.	PUNCT
globalce-260	225	1	as	as	ADP
globalce-260	225	2	a	a	DET
globalce-260	225	3	means	means	NOUN
globalce-260	225	4	of	of	ADP
globalce-260	225	5	access	access	NOUN
globalce-260	225	6	control	control	NOUN
globalce-260	225	7	,	,	PUNCT
globalce-260	225	8	the	the	DET
globalce-260	225	9	wireless	wireless	ADJ
globalce-260	225	10	ecg	ecg	PROPN
globalce-260	225	11	device	device	NOUN
globalce-260	225	12	developed	develop	VERB
globalce-260	225	13	for	for	ADP
globalce-260	225	14	the	the	DET
globalce-260	225	15	mechatronic	mechatronic	ADJ
globalce-260	225	16	system	system	NOUN
globalce-260	225	17	can	can	AUX
globalce-260	225	18	be	be	AUX
globalce-260	225	19	used	use	VERB
globalce-260	225	20	.	.	PUNCT
globalce-260	226	1	as	as	SCONJ
globalce-260	226	2	the	the	DET
globalce-260	226	3	system	system	NOUN
globalce-260	226	4	is	be	AUX
globalce-260	226	5	built	build	VERB
globalce-260	226	6	on	on	ADP
globalce-260	226	7	a	a	DET
globalce-260	226	8	modular	modular	ADJ
globalce-260	226	9	principle	principle	NOUN
globalce-260	226	10	,	,	PUNCT
globalce-260	226	11	it	it	PRON
globalce-260	226	12	will	will	AUX
globalce-260	226	13	be	be	AUX
globalce-260	226	14	further	far	ADV
globalce-260	226	15	updated	update	VERB
globalce-260	226	16	in	in	ADP
globalce-260	226	17	the	the	DET
globalce-260	226	18	future	future	NOUN
globalce-260	226	19	,	,	PUNCT
globalce-260	226	20	both	both	CCONJ
globalce-260	226	21	in	in	ADP
globalce-260	226	22	terms	term	NOUN
globalce-260	226	23	of	of	ADP
globalce-260	226	24	hardware	hardware	NOUN
globalce-260	226	25	and	and	CCONJ
globalce-260	226	26	in	in	ADP
globalce-260	226	27	terms	term	NOUN
globalce-260	226	28	of	of	ADP
globalce-260	226	29	developing	develop	VERB
globalce-260	226	30	new	new	ADJ
globalce-260	226	31	applications	application	NOUN
globalce-260	226	32	based	base	VERB
globalce-260	226	33	on	on	ADP
globalce-260	226	34	vr	vr	PROPN
globalce-260	226	35	and	and	CCONJ
globalce-260	226	36	ar	ar	PROPN
globalce-260	226	37	,	,	PUNCT
globalce-260	226	38	with	with	ADP
globalce-260	226	39	the	the	DET
globalce-260	226	40	aim	aim	NOUN
globalce-260	226	41	of	of	ADP
globalce-260	226	42	improving	improve	VERB
globalce-260	226	43	the	the	DET
globalce-260	226	44	quality	quality	NOUN
globalce-260	226	45	of	of	ADP
globalce-260	226	46	training	training	NOUN
globalce-260	226	47	of	of	ADP
globalce-260	226	48	medical	medical	ADJ
globalce-260	226	49	students	student	NOUN
globalce-260	226	50	and	and	CCONJ
globalce-260	226	51	improving	improve	VERB
globalce-260	226	52	the	the	DET
globalce-260	226	53	qualification	qualification	NOUN
globalce-260	226	54	of	of	ADP
globalce-260	226	55	surgical	surgical	ADJ
globalce-260	226	56	personnel	personnel	NOUN
globalce-260	226	57	,	,	PUNCT
globalce-260	226	58	which	which	PRON
globalce-260	226	59	allows	allow	VERB
globalce-260	226	60	various	various	ADJ
globalce-260	226	61	skills	skill	NOUN
globalce-260	226	62	and	and	CCONJ
globalce-260	226	63	capabilities	capability	NOUN
globalce-260	226	64	of	of	ADP
globalce-260	226	65	the	the	DET
globalce-260	226	66	instruments	instrument	NOUN
globalce-260	226	67	to	to	PART
globalce-260	226	68	be	be	AUX
globalce-260	226	69	acquired	acquire	VERB
globalce-260	226	70	and	and	CCONJ
globalce-260	226	71	tested	test	VERB
globalce-260	226	72	before	before	ADP
globalce-260	226	73	their	their	PRON
globalce-260	226	74	application	application	NOUN
globalce-260	226	75	in	in	ADP
globalce-260	226	76	real	real	ADJ
globalce-260	226	77	laparoscopic	laparoscopic	NOUN
globalce-260	226	78	operations	operation	NOUN
globalce-260	226	79	.	.	PUNCT
globalce-260	227	1	in	in	ADP
globalce-260	227	2	the	the	DET
globalce-260	227	3	area	area	NOUN
globalce-260	227	4	of	of	ADP
globalce-260	227	5	information	information	NOUN
globalce-260	227	6	protection	protection	NOUN
globalce-260	227	7	and	and	CCONJ
globalce-260	227	8	access	access	NOUN
globalce-260	227	9	control	control	NOUN
globalce-260	227	10	means	mean	NOUN
globalce-260	227	11	,	,	PUNCT
globalce-260	227	12	the	the	DET
globalce-260	227	13	possibilities	possibility	NOUN
globalce-260	227	14	of	of	ADP
globalce-260	227	15	using	use	VERB
globalce-260	227	16	other	other	ADJ
globalce-260	227	17	means	mean	NOUN
globalce-260	227	18	will	will	AUX
globalce-260	227	19	be	be	AUX
globalce-260	227	20	explored	explore	VERB
globalce-260	227	21	,	,	PUNCT
globalce-260	227	22	which	which	PRON
globalce-260	227	23	will	will	AUX
globalce-260	227	24	be	be	AUX
globalce-260	227	25	applied	apply	VERB
globalce-260	227	26	at	at	ADP
globalce-260	227	27	all	all	DET
globalce-260	227	28	levels	level	NOUN
globalce-260	227	29	of	of	ADP
globalce-260	227	30	usability	usability	NOUN
globalce-260	227	31	of	of	ADP
globalce-260	227	32	the	the	DET
globalce-260	227	33	accumulated	accumulate	VERB
globalce-260	227	34	information	information	NOUN
globalce-260	227	35	,	,	PUNCT
globalce-260	227	36	which	which	PRON
globalce-260	227	37	will	will	AUX
globalce-260	227	38	be	be	AUX
globalce-260	227	39	effectively	effectively	ADV
globalce-260	227	40	used	use	VERB
globalce-260	227	41	in	in	ADP
globalce-260	227	42	improving	improve	VERB
globalce-260	227	43	the	the	DET
globalce-260	227	44	work	work	NOUN
globalce-260	227	45	with	with	ADP
globalce-260	227	46	laparoscopic	laparoscopic	NOUN
globalce-260	227	47	instruments	instrument	NOUN
globalce-260	227	48	.	.	PUNCT
globalce-260	228	1	the	the	DET
globalce-260	228	2	possibilities	possibility	NOUN
globalce-260	228	3	and	and	CCONJ
globalce-260	228	4	combinations	combination	NOUN
globalce-260	228	5	of	of	ADP
globalce-260	228	6	means	mean	NOUN
globalce-260	228	7	of	of	ADP
globalce-260	228	8	access	access	NOUN
globalce-260	228	9	control	control	NOUN
globalce-260	228	10	and	and	CCONJ
globalce-260	228	11	protection	protection	NOUN
globalce-260	228	12	of	of	ADP
globalce-260	228	13	information	information	NOUN
globalce-260	228	14	in	in	ADP
globalce-260	228	15	the	the	DET
globalce-260	228	16	developed	develop	VERB
globalce-260	228	17	mechatronic	mechatronic	ADJ
globalce-260	228	18	training	training	NOUN
globalce-260	228	19	laparoscopic	laparoscopic	NOUN
globalce-260	228	20	system	system	NOUN
globalce-260	228	21	and	and	CCONJ
globalce-260	228	22	the	the	DET
globalce-260	228	23	applications	application	NOUN
globalce-260	228	24	developed	develop	VERB
globalce-260	228	25	for	for	ADP
globalce-260	228	26	it	it	PRON
globalce-260	228	27	will	will	AUX
globalce-260	228	28	be	be	AUX
globalce-260	228	29	studied	study	VERB
globalce-260	228	30	,	,	PUNCT
globalce-260	228	31	as	as	SCONJ
globalce-260	228	32	discussed	discuss	VERB
globalce-260	228	33	in	in	ADP
globalce-260	228	34	the	the	DET
globalce-260	228	35	present	present	ADJ
globalce-260	228	36	publication	publication	NOUN
globalce-260	228	37	.	.	PUNCT
globalce-260	229	1	a	a	DET
globalce-260	229	2	secure	secure	ADJ
globalce-260	229	3	transfer	transfer	NOUN
globalce-260	229	4	of	of	ADP
globalce-260	229	5	the	the	DET
globalce-260	229	6	information	information	NOUN
globalce-260	229	7	to	to	ADP
globalce-260	229	8	central	central	ADJ
globalce-260	229	9	servers	server	NOUN
globalce-260	229	10	(	(	PUNCT
globalce-260	229	11	of	of	ADP
globalce-260	229	12	the	the	DET
globalce-260	229	13	educational	educational	ADJ
globalce-260	229	14	or	or	CCONJ
globalce-260	229	15	medical	medical	ADJ
globalce-260	229	16	institution	institution	NOUN
globalce-260	229	17	)	)	PUNCT
globalce-260	229	18	or	or	CCONJ
globalce-260	229	19	to	to	ADP
globalce-260	229	20	specialized	specialize	VERB
globalce-260	229	21	cloud	cloud	ADJ
globalce-260	229	22	medical	medical	ADJ
globalce-260	229	23	servers	server	NOUN
globalce-260	229	24	is	be	AUX
globalce-260	229	25	also	also	ADV
globalce-260	229	26	planned	plan	VERB
globalce-260	229	27	.	.	PUNCT
globalce-260	230	1	97	97	NUM
globalce-260	231	1	j	j	PROPN
globalce-260	231	2	global	global	ADJ
globalce-260	231	3	clinical	clinical	ADJ
globalce-260	231	4	engineering	engineering	NOUN
globalce-260	231	5	vol.7	vol.7	PROPN
globalce-260	231	6	issue	issue	NOUN
globalce-260	231	7	3	3	NUM
globalce-260	231	8	:	:	SYM
globalce-260	231	9	2025	2025	NUM
globalce-260	231	10	ivanova	ivanova	PROPN
globalce-260	231	11	,	,	PUNCT
globalce-260	231	12	vasilev	vasilev	NOUN
globalce-260	231	13	,	,	PUNCT
globalce-260	231	14	boneva	boneva	ADV
globalce-260	231	15	:	:	PUNCT
globalce-260	231	16	training	training	NOUN
globalce-260	231	17	of	of	ADP
globalce-260	231	18	surgical	surgical	ADJ
globalce-260	231	19	skills	skill	NOUN
globalce-260	231	20	by	by	ADP
globalce-260	231	21	a	a	DET
globalce-260	231	22	3d	3d	NUM
globalce-260	231	23	augmented	augment	VERB
globalce-260	231	24	liver	liver	NOUN
globalce-260	231	25	model	model	NOUN
globalce-260	231	26	response	response	NOUN
globalce-260	231	27	during	during	ADP
globalce-260	231	28	instrument	instrument	NOUN
globalce-260	231	29	interactions	interaction	NOUN
globalce-260	231	30	simulation	simulation	NOUN
globalce-260	231	31	unity	unity	NOUN
globalce-260	231	32	’s	’s	PART
globalce-260	231	33	physics	physics	NOUN
globalce-260	231	34	engine	engine	NOUN
globalce-260	231	35	is	be	AUX
globalce-260	231	36	used	use	VERB
globalce-260	231	37	to	to	PART
globalce-260	231	38	simulate	simulate	VERB
globalce-260	231	39	the	the	DET
globalce-260	231	40	behaviors	behavior	NOUN
globalce-260	231	41	of	of	ADP
globalce-260	231	42	objects	object	NOUN
globalce-260	231	43	in	in	ADP
globalce-260	231	44	the	the	DET
globalce-260	231	45	scene	scene	NOUN
globalce-260	231	46	and	and	CCONJ
globalce-260	231	47	create	create	VERB
globalce-260	231	48	realistic	realistic	ADJ
globalce-260	231	49	interactions	interaction	NOUN
globalce-260	231	50	between	between	ADP
globalce-260	231	51	them	they	PRON
globalce-260	231	52	,	,	PUNCT
globalce-260	231	53	through	through	ADP
globalce-260	231	54	physics	physics	NOUN
globalce-260	231	55	-	-	PUNCT
globalce-260	231	56	based	base	VERB
globalce-260	231	57	behaviors	behavior	NOUN
globalce-260	231	58	applied	apply	VERB
globalce-260	231	59	to	to	ADP
globalce-260	231	60	gameobjects	gameobject	NOUN
globalce-260	231	61	(	(	PUNCT
globalce-260	231	62	rigidbodies	rigidbodie	NOUN
globalce-260	231	63	and	and	CCONJ
globalce-260	231	64	colliders	collider	NOUN
globalce-260	231	65	)	)	PUNCT
globalce-260	231	66	.	.	PUNCT
globalce-260	232	1	each	each	PRON
globalce-260	232	2	of	of	ADP
globalce-260	232	3	the	the	DET
globalce-260	232	4	objects	object	NOUN
globalce-260	232	5	should	should	AUX
globalce-260	232	6	contain	contain	VERB
globalce-260	232	7	a	a	DET
globalce-260	232	8	rigidbody	rigidbody	NOUN
globalce-260	232	9	component	component	NOUN
globalce-260	232	10	in	in	ADP
globalce-260	232	11	order	order	NOUN
globalce-260	232	12	to	to	PART
globalce-260	232	13	be	be	AUX
globalce-260	232	14	affected	affect	VERB
globalce-260	232	15	by	by	ADP
globalce-260	232	16	the	the	DET
globalce-260	232	17	physics	physics	NOUN
globalce-260	232	18	engine	engine	NOUN
globalce-260	232	19	.	.	PUNCT
globalce-260	233	1	the	the	DET
globalce-260	233	2	configuration	configuration	NOUN
globalce-260	233	3	of	of	ADP
globalce-260	233	4	the	the	DET
globalce-260	233	5	rigidbody	rigidbody	NOUN
globalce-260	233	6	component	component	NOUN
globalce-260	233	7	is	be	AUX
globalce-260	233	8	made	make	VERB
globalce-260	233	9	by	by	ADP
globalce-260	233	10	adjusting	adjust	VERB
globalce-260	233	11	the	the	DET
globalce-260	233	12	properties	property	NOUN
globalce-260	233	13	in	in	ADP
globalce-260	233	14	the	the	DET
globalce-260	233	15	rigidbody	rigidbody	NOUN
globalce-260	233	16	component	component	NOUN
globalce-260	233	17	’s	’s	PART
globalce-260	233	18	inspector	inspector	NOUN
globalce-260	233	19	.	.	PUNCT
globalce-260	234	1	some	some	PRON
globalce-260	234	2	of	of	ADP
globalce-260	234	3	the	the	DET
globalce-260	234	4	properties	property	NOUN
globalce-260	234	5	include	include	VERB
globalce-260	234	6	:	:	PUNCT
globalce-260	234	7	•	•	NUM
globalce-260	234	8	mass	mass	PROPN
globalce-260	234	9	:	:	PUNCT
globalce-260	234	10	the	the	DET
globalce-260	234	11	mass	mass	NOUN
globalce-260	234	12	of	of	ADP
globalce-260	234	13	the	the	DET
globalce-260	234	14	object	object	NOUN
globalce-260	234	15	,	,	PUNCT
globalce-260	234	16	which	which	PRON
globalce-260	234	17	affects	affect	VERB
globalce-260	234	18	how	how	SCONJ
globalce-260	234	19	it	it	PRON
globalce-260	234	20	will	will	AUX
globalce-260	234	21	be	be	AUX
globalce-260	234	22	affected	affect	VERB
globalce-260	234	23	by	by	ADP
globalce-260	234	24	forces	force	NOUN
globalce-260	234	25	;	;	PUNCT
globalce-260	234	26	•	•	X
globalce-260	234	27	drag	drag	VERB
globalce-260	234	28	:	:	PUNCT
globalce-260	234	29	the	the	DET
globalce-260	234	30	amount	amount	NOUN
globalce-260	234	31	of	of	ADP
globalce-260	234	32	air	air	NOUN
globalce-260	234	33	resistance	resistance	NOUN
globalce-260	234	34	the	the	DET
globalce-260	234	35	object	object	NOUN
globalce-260	234	36	will	will	AUX
globalce-260	234	37	experience	experience	VERB
globalce-260	234	38	;	;	PUNCT
globalce-260	234	39	•	•	NUM
globalce-260	234	40	angular	angular	ADJ
globalce-260	234	41	drag	drag	NOUN
globalce-260	234	42	:	:	PUNCT
globalce-260	234	43	the	the	DET
globalce-260	234	44	amount	amount	NOUN
globalce-260	234	45	of	of	ADP
globalce-260	234	46	resistance	resistance	NOUN
globalce-260	234	47	the	the	DET
globalce-260	234	48	object	object	NOUN
globalce-260	234	49	will	will	AUX
globalce-260	234	50	experience	experience	VERB
globalce-260	234	51	when	when	SCONJ
globalce-260	234	52	rotating	rotate	VERB
globalce-260	234	53	;	;	PUNCT
globalce-260	234	54	•	•	NUM
globalce-260	234	55	use	use	NOUN
globalce-260	234	56	gravity	gravity	NOUN
globalce-260	234	57	:	:	PUNCT
globalce-260	234	58	enables	enable	VERB
globalce-260	234	59	or	or	CCONJ
globalce-260	234	60	disables	disable	VERB
globalce-260	234	61	the	the	DET
globalce-260	234	62	effect	effect	NOUN
globalce-260	234	63	of	of	ADP
globalce-260	234	64	gravity	gravity	NOUN
globalce-260	234	65	on	on	ADP
globalce-260	234	66	the	the	DET
globalce-260	234	67	object	object	NOUN
globalce-260	234	68	;	;	PUNCT
globalce-260	234	69	•	•	NUM
globalce-260	234	70	is	be	AUX
globalce-260	234	71	kinematic	kinematic	ADJ
globalce-260	234	72	:	:	PUNCT
globalce-260	234	73	this	this	DET
globalce-260	234	74	checkbox	checkbox	NOUN
globalce-260	234	75	makes	make	VERB
globalce-260	234	76	the	the	DET
globalce-260	234	77	object	object	NOUN
globalce-260	234	78	not	not	PART
globalce-260	234	79	affected	affect	VERB
globalce-260	234	80	by	by	ADP
globalce-260	234	81	forces	force	NOUN
globalce-260	234	82	,	,	PUNCT
globalce-260	234	83	but	but	CCONJ
globalce-260	234	84	it	it	PRON
globalce-260	234	85	will	will	AUX
globalce-260	234	86	be	be	AUX
globalce-260	234	87	affected	affect	VERB
globalce-260	234	88	by	by	ADP
globalce-260	234	89	collisions	collision	NOUN
globalce-260	234	90	;	;	PUNCT
globalce-260	234	91	•	•	NUM
globalce-260	234	92	forces	force	NOUN
globalce-260	234	93	can	can	AUX
globalce-260	234	94	be	be	AUX
globalce-260	234	95	applied	apply	VERB
globalce-260	234	96	to	to	ADP
globalce-260	234	97	objects	object	NOUN
globalce-260	234	98	by	by	ADP
globalce-260	234	99	using	use	VERB
globalce-260	234	100	the	the	DET
globalce-260	234	101	“	"	PUNCT
globalce-260	234	102	addforce	addforce	ADJ
globalce-260	234	103	(	(	PUNCT
globalce-260	234	104	)	)	PUNCT
globalce-260	234	105	function	function	NOUN
globalce-260	234	106	”	"	PUNCT
globalce-260	234	107	of	of	ADP
globalce-260	234	108	the	the	DET
globalce-260	234	109	rigidbody	rigidbody	NOUN
globalce-260	234	110	component	component	NOUN
globalce-260	234	111	.	.	PUNCT
globalce-260	235	1	using	use	VERB
globalce-260	235	2	unity	unity	NOUN
globalce-260	235	3	’s	’s	PART
globalce-260	235	4	physics	physics	NOUN
globalce-260	235	5	engine	engine	NOUN
globalce-260	235	6	enables	enable	VERB
globalce-260	235	7	tool	tool	NOUN
globalce-260	235	8	–	–	PUNCT
globalce-260	235	9	tissue	tissue	NOUN
globalce-260	235	10	model	model	NOUN
globalce-260	235	11	interactions	interaction	NOUN
globalce-260	235	12	to	to	PART
globalce-260	235	13	be	be	AUX
globalce-260	235	14	reduced	reduce	VERB
globalce-260	235	15	to	to	ADP
globalce-260	235	16	setting	set	VERB
globalce-260	235	17	parameter	parameter	NOUN
globalce-260	235	18	values	value	NOUN
globalce-260	235	19	,	,	PUNCT
globalce-260	235	20	without	without	ADP
globalce-260	235	21	the	the	DET
globalce-260	235	22	need	need	NOUN
globalce-260	235	23	to	to	PART
globalce-260	235	24	write	write	VERB
globalce-260	235	25	complex	complex	ADJ
globalce-260	235	26	programs	program	NOUN
globalce-260	235	27	with	with	ADP
globalce-260	235	28	physics	physics	NOUN
globalce-260	235	29	dependencies	dependency	NOUN
globalce-260	235	30	.	.	PUNCT
globalce-260	236	1	the	the	DET
globalce-260	236	2	correct	correct	ADJ
globalce-260	236	3	settings	setting	NOUN
globalce-260	236	4	give	give	VERB
globalce-260	236	5	a	a	DET
globalce-260	236	6	realistic	realistic	ADJ
globalce-260	236	7	concept	concept	NOUN
globalce-260	236	8	of	of	ADP
globalce-260	236	9	the	the	DET
globalce-260	236	10	interaction	interaction	NOUN
globalce-260	236	11	pattern	pattern	NOUN
globalce-260	236	12	between	between	ADP
globalce-260	236	13	the	the	DET
globalce-260	236	14	two	two	NUM
globalce-260	236	15	objects	object	NOUN
globalce-260	236	16	,	,	PUNCT
globalce-260	236	17	which	which	PRON
globalce-260	236	18	depends	depend	VERB
globalce-260	236	19	greatly	greatly	ADV
globalce-260	236	20	on	on	ADP
globalce-260	236	21	the	the	DET
globalce-260	236	22	level	level	NOUN
globalce-260	236	23	of	of	ADP
globalce-260	236	24	detailing	detail	VERB
globalce-260	236	25	of	of	ADP
globalce-260	236	26	the	the	DET
globalce-260	236	27	mesh.46	mesh.46	NOUN
globalce-260	236	28	the	the	DET
globalce-260	236	29	coding	coding	NOUN
globalce-260	236	30	is	be	AUX
globalce-260	236	31	reduced	reduce	VERB
globalce-260	236	32	to	to	ADP
globalce-260	236	33	a	a	DET
globalce-260	236	34	basic	basic	ADJ
globalce-260	236	35	script	script	NOUN
globalce-260	236	36	that	that	PRON
globalce-260	236	37	initiates	initiate	VERB
globalce-260	236	38	the	the	DET
globalce-260	236	39	interaction	interaction	NOUN
globalce-260	236	40	between	between	ADP
globalce-260	236	41	collider	collider	NOUN
globalce-260	236	42	objects	object	NOUN
globalce-260	236	43	and	and	CCONJ
globalce-260	236	44	the	the	DET
globalce-260	236	45	deformation	deformation	NOUN
globalce-260	236	46	of	of	ADP
globalce-260	236	47	the	the	DET
globalce-260	236	48	rigid	rigid	ADJ
globalce-260	236	49	bodies	body	NOUN
globalce-260	236	50	.	.	PUNCT
globalce-260	237	1	the	the	DET
globalce-260	237	2	script	script	NOUN
globalce-260	237	3	has	have	VERB
globalce-260	237	4	to	to	PART
globalce-260	237	5	be	be	AUX
globalce-260	237	6	attached	attach	VERB
globalce-260	237	7	to	to	ADP
globalce-260	237	8	the	the	DET
globalce-260	237	9	corresponding	corresponding	ADJ
globalce-260	237	10	object	object	NOUN
globalce-260	237	11	.	.	PUNCT
globalce-260	238	1	the	the	DET
globalce-260	238	2	result	result	NOUN
globalce-260	238	3	from	from	ADP
globalce-260	238	4	a	a	DET
globalce-260	238	5	3d	3d	NUM
globalce-260	238	6	augmented	augment	VERB
globalce-260	238	7	model	model	NOUN
globalce-260	238	8	response	response	NOUN
globalce-260	238	9	because	because	SCONJ
globalce-260	238	10	of	of	ADP
globalce-260	238	11	the	the	DET
globalce-260	238	12	impact	impact	NOUN
globalce-260	238	13	with	with	ADP
globalce-260	238	14	external	external	ADJ
globalce-260	238	15	objects	object	NOUN
globalce-260	238	16	is	be	AUX
globalce-260	238	17	shown	show	VERB
globalce-260	238	18	in	in	ADP
globalce-260	238	19	figure	figure	NOUN
globalce-260	238	20	4	4	NUM
globalce-260	238	21	.	.	PUNCT
globalce-260	238	22	figure	figure	VERB
globalce-260	238	23	5	5	NUM
globalce-260	238	24	shows	show	VERB
globalce-260	238	25	screenshots	screenshot	NOUN
globalce-260	238	26	of	of	ADP
globalce-260	238	27	the	the	DET
globalce-260	238	28	mysql	mysql	NOUN
globalce-260	238	29	-	-	PUNCT
globalce-260	238	30	based	base	VERB
globalce-260	238	31	database	database	NOUN
globalce-260	238	32	in	in	ADP
globalce-260	238	33	the	the	DET
globalce-260	238	34	developed	develop	VERB
globalce-260	238	35	application	application	NOUN
globalce-260	238	36	.	.	PUNCT
globalce-260	239	1	figure	figure	NOUN
globalce-260	239	2	6	6	NUM
globalce-260	239	3	shows	show	VERB
globalce-260	239	4	the	the	DET
globalce-260	239	5	3d	3d	PROPN
globalce-260	239	6	augmented	augment	VERB
globalce-260	239	7	model	model	NOUN
globalce-260	239	8	response	response	NOUN
globalce-260	239	9	during	during	ADP
globalce-260	239	10	tactile	tactile	ADJ
globalce-260	239	11	instrument	instrument	NOUN
globalce-260	239	12	interactions	interaction	NOUN
globalce-260	239	13	simulating	simulate	VERB
globalce-260	239	14	in	in	ADP
globalce-260	239	15	surgical	surgical	ADJ
globalce-260	239	16	education	education	NOUN
globalce-260	239	17	.	.	PUNCT
globalce-260	240	1	figure	figure	NOUN
globalce-260	240	2	7	7	NUM
globalce-260	240	3	shows	show	VERB
globalce-260	240	4	a	a	DET
globalce-260	240	5	photograph	photograph	NOUN
globalce-260	240	6	of	of	ADP
globalce-260	240	7	the	the	DET
globalce-260	240	8	laparoscopic	laparoscopic	NOUN
globalce-260	240	9	instrument	instrument	NOUN
globalce-260	240	10	included	include	VERB
globalce-260	240	11	in	in	ADP
globalce-260	240	12	the	the	DET
globalce-260	240	13	system	system	NOUN
globalce-260	240	14	(	(	PUNCT
globalce-260	240	15	figure	figure	NOUN
globalce-260	240	16	6	6	NUM
globalce-260	240	17	)	)	PUNCT
globalce-260	240	18	.	.	PUNCT
globalce-260	241	1	the	the	DET
globalce-260	241	2	tool	tool	NOUN
globalce-260	241	3	figure	figure	NOUN
globalce-260	241	4	4	4	NUM
globalce-260	241	5	.	.	PUNCT
globalce-260	242	1	a	a	DET
globalce-260	242	2	3d	3d	NUM
globalce-260	242	3	augmented	augment	VERB
globalce-260	242	4	model	model	NOUN
globalce-260	242	5	responds	respond	VERB
globalce-260	242	6	because	because	SCONJ
globalce-260	242	7	of	of	ADP
globalce-260	242	8	the	the	DET
globalce-260	242	9	impact	impact	NOUN
globalce-260	242	10	with	with	ADP
globalce-260	242	11	external	external	ADJ
globalce-260	242	12	objects	object	NOUN
globalce-260	242	13	.	.	PUNCT
globalce-260	243	1	figure	figure	NOUN
globalce-260	243	2	5	5	NUM
globalce-260	243	3	.	.	PUNCT
globalce-260	243	4	mysql	mysql	NOUN
globalce-260	243	5	database	database	NOUN
globalce-260	243	6	.	.	PUNCT
globalce-260	244	1	figure	figure	NOUN
globalce-260	244	2	6	6	NUM
globalce-260	244	3	.	.	PUNCT
globalce-260	245	1	the	the	DET
globalce-260	245	2	3d	3d	PROPN
globalce-260	245	3	augmented	augment	VERB
globalce-260	245	4	model	model	NOUN
globalce-260	245	5	response	response	NOUN
globalce-260	245	6	during	during	ADP
globalce-260	245	7	tactile	tactile	ADJ
globalce-260	245	8	instrument	instrument	NOUN
globalce-260	245	9	interactions	interaction	NOUN
globalce-260	245	10	simulation	simulation	NOUN
globalce-260	245	11	in	in	ADP
globalce-260	245	12	surgical	surgical	ADJ
globalce-260	245	13	training	training	NOUN
globalce-260	245	14	.	.	PUNCT
globalce-260	246	1	ivanova	ivanova	PROPN
globalce-260	246	2	,	,	PUNCT
globalce-260	246	3	vasilev	vasilev	NOUN
globalce-260	246	4	,	,	PUNCT
globalce-260	246	5	boneva	boneva	ADV
globalce-260	246	6	:	:	PUNCT
globalce-260	246	7	training	training	NOUN
globalce-260	246	8	of	of	ADP
globalce-260	246	9	surgical	surgical	ADJ
globalce-260	246	10	skills	skill	NOUN
globalce-260	246	11	by	by	ADP
globalce-260	246	12	a	a	DET
globalce-260	246	13	3d	3d	NUM
globalce-260	246	14	augmented	augment	VERB
globalce-260	246	15	liver	liver	NOUN
globalce-260	246	16	model	model	NOUN
globalce-260	246	17	response	response	NOUN
globalce-260	246	18	during	during	ADP
globalce-260	246	19	instrument	instrument	NOUN
globalce-260	246	20	interactions	interaction	NOUN
globalce-260	246	21	simulation	simulation	NOUN
globalce-260	246	22	j	j	PROPN
globalce-260	246	23	global	global	ADJ
globalce-260	246	24	clinical	clinical	ADJ
globalce-260	246	25	engineering	engineering	NOUN
globalce-260	246	26	vol.7	vol.7	PROPN
globalce-260	246	27	issue	issue	NOUN
globalce-260	246	28	3	3	NUM
globalce-260	246	29	:	:	SYM
globalce-260	246	30	2025	2025	NUM
globalce-260	246	31	98	98	NUM
globalce-260	246	32	evaluation	evaluation	NOUN
globalce-260	246	33	of	of	ADP
globalce-260	246	34	acquired	acquire	VERB
globalce-260	246	35	skills	skill	NOUN
globalce-260	246	36	the	the	DET
globalce-260	246	37	review	review	NOUN
globalce-260	246	38	of	of	ADP
globalce-260	246	39	the	the	DET
globalce-260	246	40	literature	literature	NOUN
globalce-260	246	41	revealed	reveal	VERB
globalce-260	246	42	two	two	NUM
globalce-260	246	43	approaches	approach	NOUN
globalce-260	246	44	to	to	PART
globalce-260	246	45	evaluate	evaluate	VERB
globalce-260	246	46	the	the	DET
globalce-260	246	47	skills	skill	NOUN
globalce-260	246	48	of	of	ADP
globalce-260	246	49	medical	medical	ADJ
globalce-260	246	50	students	student	NOUN
globalce-260	246	51	and	and	CCONJ
globalce-260	246	52	staff	staff	NOUN
globalce-260	246	53	:	:	PUNCT
globalce-260	246	54	(	(	PUNCT
globalce-260	246	55	1	1	X
globalce-260	246	56	)	)	PUNCT
globalce-260	246	57	the	the	DET
globalce-260	246	58	objective	objective	ADJ
globalce-260	246	59	structured	structure	VERB
globalce-260	246	60	assessment	assessment	NOUN
globalce-260	246	61	of	of	ADP
globalce-260	246	62	technical	technical	ADJ
globalce-260	246	63	skills	skill	NOUN
globalce-260	246	64	checklists	checklist	NOUN
globalce-260	246	65	and	and	CCONJ
globalce-260	246	66	(	(	PUNCT
globalce-260	246	67	2	2	X
globalce-260	246	68	)	)	PUNCT
globalce-260	246	69	the	the	DET
globalce-260	246	70	goals.47,48	goals.47,48	NOUN
globalce-260	246	71	methods	method	NOUN
globalce-260	246	72	using	use	VERB
globalce-260	246	73	ar	ar	NOUN
globalce-260	246	74	have	have	AUX
globalce-260	246	75	been	be	AUX
globalce-260	246	76	developed	develop	VERB
globalce-260	246	77	to	to	PART
globalce-260	246	78	overcome	overcome	VERB
globalce-260	246	79	some	some	PRON
globalce-260	246	80	of	of	ADP
globalce-260	246	81	the	the	DET
globalce-260	246	82	shortcomings	shortcoming	NOUN
globalce-260	246	83	of	of	ADP
globalce-260	246	84	working	work	VERB
globalce-260	246	85	with	with	ADP
globalce-260	246	86	laparoscopic	laparoscopic	NOUN
globalce-260	246	87	instruments	instrument	NOUN
globalce-260	246	88	,	,	PUNCT
globalce-260	246	89	and	and	CCONJ
globalce-260	246	90	basic	basic	ADJ
globalce-260	246	91	assessment	assessment	NOUN
globalce-260	246	92	methods	method	NOUN
globalce-260	246	93	have	have	AUX
globalce-260	246	94	been	be	AUX
globalce-260	246	95	identified	identify	VERB
globalce-260	246	96	.	.	PUNCT
globalce-260	247	1	more	more	ADJ
globalce-260	247	2	information	information	NOUN
globalce-260	247	3	on	on	ADP
globalce-260	247	4	the	the	DET
globalce-260	247	5	topic	topic	NOUN
globalce-260	247	6	is	be	AUX
globalce-260	247	7	given	give	VERB
globalce-260	247	8	by	by	ADP
globalce-260	247	9	roberto	roberto	PROPN
globalce-260	247	10	et	et	PROPN
globalce-260	247	11	al.49	al.49	SCONJ
globalce-260	247	12	these	these	DET
globalce-260	247	13	approaches	approach	NOUN
globalce-260	247	14	help	help	VERB
globalce-260	247	15	with	with	ADP
globalce-260	247	16	the	the	DET
globalce-260	247	17	objective	objective	ADJ
globalce-260	247	18	assessment	assessment	NOUN
globalce-260	247	19	of	of	ADP
globalce-260	247	20	surgical	surgical	ADJ
globalce-260	247	21	competencies	competency	NOUN
globalce-260	247	22	before	before	ADP
globalce-260	247	23	performing	perform	VERB
globalce-260	247	24	an	an	DET
globalce-260	247	25	mis.50	mis.50	NOUN
globalce-260	247	26	conclusion	conclusion	NOUN
globalce-260	247	27	the	the	DET
globalce-260	247	28	simulation	simulation	NOUN
globalce-260	247	29	of	of	ADP
globalce-260	247	30	realistic	realistic	ADJ
globalce-260	247	31	interactions	interaction	NOUN
globalce-260	247	32	has	have	AUX
globalce-260	247	33	become	become	VERB
globalce-260	247	34	a	a	DET
globalce-260	247	35	tangible	tangible	ADJ
globalce-260	247	36	reality	reality	NOUN
globalce-260	247	37	,	,	PUNCT
globalce-260	247	38	despite	despite	SCONJ
globalce-260	247	39	existing	exist	VERB
globalce-260	247	40	challenges	challenge	NOUN
globalce-260	247	41	such	such	ADJ
globalce-260	247	42	as	as	ADP
globalce-260	247	43	modeling	model	VERB
globalce-260	247	44	realistic	realistic	ADJ
globalce-260	247	45	behavior	behavior	NOUN
globalce-260	247	46	during	during	ADP
globalce-260	247	47	user	user	NOUN
globalce-260	247	48	interactions	interaction	NOUN
globalce-260	247	49	,	,	PUNCT
globalce-260	247	50	fluid	fluid	ADJ
globalce-260	247	51	dynamics	dynamic	NOUN
globalce-260	247	52	,	,	PUNCT
globalce-260	247	53	and	and	CCONJ
globalce-260	247	54	force	force	VERB
globalce-260	247	55	feedback	feedback	NOUN
globalce-260	247	56	mechanisms	mechanism	NOUN
globalce-260	247	57	.	.	PUNCT
globalce-260	248	1	the	the	DET
globalce-260	248	2	application	application	NOUN
globalce-260	248	3	of	of	ADP
globalce-260	248	4	computer	computer	NOUN
globalce-260	248	5	graphics	graphic	NOUN
globalce-260	248	6	techniques	technique	NOUN
globalce-260	248	7	in	in	ADP
globalce-260	248	8	medical	medical	ADJ
globalce-260	248	9	contexts	contexts	NOUN
globalce-260	248	10	is	be	AUX
globalce-260	248	11	increasingly	increasingly	ADV
globalce-260	248	12	prevalent	prevalent	ADJ
globalce-260	248	13	;	;	PUNCT
globalce-260	248	14	however	however	ADV
globalce-260	248	15	,	,	PUNCT
globalce-260	248	16	numerous	numerous	ADJ
globalce-260	248	17	research	research	NOUN
globalce-260	248	18	challenges	challenge	NOUN
globalce-260	248	19	persist	persist	VERB
globalce-260	248	20	.	.	PUNCT
globalce-260	249	1	these	these	PRON
globalce-260	249	2	include	include	VERB
globalce-260	249	3	the	the	DET
globalce-260	249	4	need	need	NOUN
globalce-260	249	5	for	for	ADP
globalce-260	249	6	enhanced	enhanced	ADJ
globalce-260	249	7	realism	realism	NOUN
globalce-260	249	8	,	,	PUNCT
globalce-260	249	9	a	a	DET
globalce-260	249	10	broader	broad	ADJ
globalce-260	249	11	array	array	NOUN
globalce-260	249	12	of	of	ADP
globalce-260	249	13	solution	solution	NOUN
globalce-260	249	14	approaches	approach	NOUN
globalce-260	249	15	,	,	PUNCT
globalce-260	249	16	and	and	CCONJ
globalce-260	249	17	improved	improve	VERB
globalce-260	249	18	computational	computational	ADJ
globalce-260	249	19	methods	method	NOUN
globalce-260	249	20	for	for	ADP
globalce-260	249	21	applications	application	NOUN
globalce-260	249	22	.	.	PUNCT
globalce-260	250	1	the	the	DET
globalce-260	250	2	optimization	optimization	NOUN
globalce-260	250	3	of	of	ADP
globalce-260	250	4	training	training	NOUN
globalce-260	250	5	simulators	simulator	NOUN
globalce-260	250	6	and	and	CCONJ
globalce-260	250	7	the	the	DET
globalce-260	250	8	effective	effective	ADJ
globalce-260	250	9	utilization	utilization	NOUN
globalce-260	250	10	of	of	ADP
globalce-260	250	11	computer	computer	NOUN
globalce-260	250	12	graphics	graphic	NOUN
globalce-260	250	13	methods	method	NOUN
globalce-260	250	14	remain	remain	VERB
globalce-260	250	15	critical	critical	ADJ
globalce-260	250	16	areas	area	NOUN
globalce-260	250	17	for	for	ADP
globalce-260	250	18	development	development	NOUN
globalce-260	250	19	.	.	PUNCT
globalce-260	251	1	this	this	DET
globalce-260	251	2	article	article	NOUN
globalce-260	251	3	presents	present	VERB
globalce-260	251	4	a	a	DET
globalce-260	251	5	simulation	simulation	NOUN
globalce-260	251	6	approach	approach	NOUN
globalce-260	251	7	that	that	PRON
globalce-260	251	8	examines	examine	VERB
globalce-260	251	9	the	the	DET
globalce-260	251	10	response	response	NOUN
globalce-260	251	11	of	of	ADP
globalce-260	251	12	a	a	DET
globalce-260	251	13	liver	liver	NOUN
globalce-260	251	14	model	model	NOUN
globalce-260	251	15	during	during	ADP
globalce-260	251	16	tactile	tactile	NOUN
globalce-260	251	17	was	be	AUX
globalce-260	251	18	developed	develop	VERB
globalce-260	251	19	as	as	ADP
globalce-260	251	20	part	part	NOUN
globalce-260	251	21	of	of	ADP
globalce-260	251	22	the	the	DET
globalce-260	251	23	“	"	PUNCT
globalce-260	251	24	system	system	NOUN
globalce-260	251	25	for	for	ADP
globalce-260	251	26	analysis	analysis	NOUN
globalce-260	251	27	and	and	CCONJ
globalce-260	251	28	control	control	NOUN
globalce-260	251	29	of	of	ADP
globalce-260	251	30	mechanical	mechanical	ADJ
globalce-260	251	31	properties	property	NOUN
globalce-260	251	32	of	of	ADP
globalce-260	251	33	biological	biological	ADJ
globalce-260	251	34	tissues	tissue	NOUN
globalce-260	251	35	,	,	PUNCT
globalce-260	251	36	”	"	PUNCT
globalce-260	251	37	and	and	CCONJ
globalce-260	251	38	is	be	AUX
globalce-260	251	39	protected	protect	VERB
globalce-260	251	40	by	by	ADP
globalce-260	251	41	a	a	DET
globalce-260	251	42	utility	utility	NOUN
globalce-260	251	43	model	model	NOUN
globalce-260	251	44	.	.	PUNCT
globalce-260	252	1	figure	figure	NOUN
globalce-260	252	2	8	8	NUM
globalce-260	252	3	shows	show	VERB
globalce-260	252	4	four	four	NUM
globalce-260	252	5	tips	tip	NOUN
globalce-260	252	6	,	,	PUNCT
globalce-260	252	7	called	call	VERB
globalce-260	252	8	end	end	NOUN
globalce-260	252	9	effectors	effector	NOUN
globalce-260	252	10	,	,	PUNCT
globalce-260	252	11	that	that	PRON
globalce-260	252	12	were	be	AUX
globalce-260	252	13	designed	design	VERB
globalce-260	252	14	for	for	ADP
globalce-260	252	15	contact	contact	NOUN
globalce-260	252	16	of	of	ADP
globalce-260	252	17	the	the	DET
globalce-260	252	18	tool	tool	NOUN
globalce-260	252	19	with	with	ADP
globalce-260	252	20	a	a	DET
globalce-260	252	21	given	give	VERB
globalce-260	252	22	surface	surface	NOUN
globalce-260	252	23	.	.	PUNCT
globalce-260	253	1	several	several	ADJ
globalce-260	253	2	experiments	experiment	NOUN
globalce-260	253	3	were	be	AUX
globalce-260	253	4	performed	perform	VERB
globalce-260	253	5	with	with	ADP
globalce-260	253	6	the	the	DET
globalce-260	253	7	developed	develop	VERB
globalce-260	253	8	experimental	experimental	ADJ
globalce-260	253	9	model	model	NOUN
globalce-260	253	10	of	of	ADP
globalce-260	253	11	a	a	DET
globalce-260	253	12	laparoscopic	laparoscopic	ADJ
globalce-260	253	13	executive	executive	ADJ
globalce-260	253	14	instrument	instrument	NOUN
globalce-260	253	15	.	.	PUNCT
globalce-260	254	1	figure	figure	NOUN
globalce-260	254	2	9	9	NUM
globalce-260	254	3	shows	show	VERB
globalce-260	254	4	the	the	DET
globalce-260	254	5	frame	frame	NOUN
globalce-260	254	6	of	of	ADP
globalce-260	254	7	the	the	DET
globalce-260	254	8	ar	ar	PROPN
globalce-260	254	9	video	video	NOUN
globalce-260	254	10	stream	stream	NOUN
globalce-260	254	11	.	.	PUNCT
globalce-260	255	1	the	the	DET
globalce-260	255	2	program	program	NOUN
globalce-260	255	3	could	could	AUX
globalce-260	255	4	be	be	AUX
globalce-260	255	5	installed	instal	VERB
globalce-260	255	6	on	on	ADP
globalce-260	255	7	smart	smart	ADJ
globalce-260	255	8	devices	device	NOUN
globalce-260	255	9	such	such	ADJ
globalce-260	255	10	as	as	ADP
globalce-260	255	11	smartphones	smartphone	NOUN
globalce-260	255	12	or	or	CCONJ
globalce-260	255	13	smart	smart	ADJ
globalce-260	255	14	glasses	glass	NOUN
globalce-260	255	15	and	and	CCONJ
globalce-260	255	16	exploit	exploit	VERB
globalce-260	255	17	built	build	VERB
globalce-260	255	18	-	-	PUNCT
globalce-260	255	19	in	in	ADP
globalce-260	255	20	microelectromechanical	microelectromechanical	ADJ
globalce-260	255	21	system	system	NOUN
globalce-260	255	22	(	(	PUNCT
globalce-260	255	23	mems	mem	NOUN
globalce-260	255	24	)	)	PUNCT
globalce-260	255	25	sensors	sensor	NOUN
globalce-260	255	26	(	(	PUNCT
globalce-260	255	27	accelerometer	accelerometer	NOUN
globalce-260	255	28	,	,	PUNCT
globalce-260	255	29	gyroscope	gyroscope	NOUN
globalce-260	255	30	,	,	PUNCT
globalce-260	255	31	camera	camera	NOUN
globalce-260	255	32	,	,	PUNCT
globalce-260	255	33	solid	solid	ADJ
globalce-260	255	34	state	state	NOUN
globalce-260	255	35	compass	compass	NOUN
globalce-260	255	36	,	,	PUNCT
globalce-260	255	37	gps	gps	PROPN
globalce-260	255	38	,	,	PUNCT
globalce-260	255	39	etc	etc	X
globalce-260	255	40	.	.	X
globalce-260	255	41	)	)	PUNCT
globalce-260	255	42	to	to	PART
globalce-260	255	43	evaluate	evaluate	VERB
globalce-260	255	44	objects	object	NOUN
globalce-260	255	45	and	and	CCONJ
globalce-260	255	46	positions	position	NOUN
globalce-260	255	47	situated	situate	VERB
globalce-260	255	48	in	in	ADP
globalce-260	255	49	the	the	DET
globalce-260	255	50	surrounding	surround	VERB
globalce-260	255	51	world	world	NOUN
globalce-260	255	52	.	.	PUNCT
globalce-260	256	1	figure	figure	VERB
globalce-260	256	2	7	7	NUM
globalce-260	256	3	.	.	PUNCT
globalce-260	257	1	an	an	DET
globalce-260	257	2	experimental	experimental	ADJ
globalce-260	257	3	module	module	NOUN
globalce-260	257	4	with	with	ADP
globalce-260	257	5	force	force	NOUN
globalce-260	257	6	capabilities	capability	NOUN
globalce-260	257	7	.	.	PUNCT
globalce-260	258	1	figure	figure	NOUN
globalce-260	258	2	8	8	NUM
globalce-260	258	3	.	.	NOUN
globalce-260	259	1	end	end	NOUN
globalce-260	259	2	effectors	effector	NOUN
globalce-260	259	3	for	for	ADP
globalce-260	259	4	an	an	DET
globalce-260	259	5	experimental	experimental	ADJ
globalce-260	259	6	module	module	NOUN
globalce-260	259	7	.	.	PUNCT
globalce-260	260	1	figure	figure	NOUN
globalce-260	260	2	9	9	NUM
globalce-260	260	3	.	.	PUNCT
globalce-260	261	1	the	the	DET
globalce-260	261	2	frame	frame	NOUN
globalce-260	261	3	of	of	ADP
globalce-260	261	4	the	the	DET
globalce-260	261	5	ar	ar	PROPN
globalce-260	261	6	video	video	NOUN
globalce-260	261	7	stream	stream	NOUN
globalce-260	261	8	.	.	PUNCT
globalce-260	262	1	the	the	DET
globalce-260	262	2	visual	visual	ADJ
globalce-260	262	3	interface	interface	NOUN
globalce-260	262	4	contains	contain	VERB
globalce-260	262	5	only	only	ADJ
globalce-260	262	6	essential	essential	ADJ
globalce-260	262	7	information	information	NOUN
globalce-260	262	8	in	in	ADP
globalce-260	262	9	order	order	NOUN
globalce-260	262	10	to	to	PART
globalce-260	262	11	allow	allow	VERB
globalce-260	262	12	the	the	DET
globalce-260	262	13	surgeon	surgeon	NOUN
globalce-260	262	14	to	to	PART
globalce-260	262	15	concentrate	concentrate	VERB
globalce-260	262	16	on	on	ADP
globalce-260	262	17	the	the	DET
globalce-260	262	18	medical	medical	ADJ
globalce-260	262	19	task	task	NOUN
globalce-260	262	20	.	.	PUNCT
globalce-260	263	1	99	99	NUM
globalce-260	263	2	j	j	PROPN
globalce-260	263	3	global	global	ADJ
globalce-260	263	4	clinical	clinical	ADJ
globalce-260	263	5	engineering	engineering	NOUN
globalce-260	263	6	vol.7	vol.7	PROPN
globalce-260	263	7	issue	issue	NOUN
globalce-260	263	8	3	3	NUM
globalce-260	263	9	:	:	SYM
globalce-260	263	10	2025	2025	NUM
globalce-260	263	11	ivanova	ivanova	PROPN
globalce-260	263	12	,	,	PUNCT
globalce-260	263	13	vasilev	vasilev	NOUN
globalce-260	263	14	,	,	PUNCT
globalce-260	263	15	boneva	boneva	ADV
globalce-260	263	16	:	:	PUNCT
globalce-260	263	17	training	training	NOUN
globalce-260	263	18	of	of	ADP
globalce-260	263	19	surgical	surgical	ADJ
globalce-260	263	20	skills	skill	NOUN
globalce-260	263	21	by	by	ADP
globalce-260	263	22	a	a	DET
globalce-260	263	23	3d	3d	NUM
globalce-260	263	24	augmented	augment	VERB
globalce-260	263	25	liver	liver	NOUN
globalce-260	263	26	model	model	NOUN
globalce-260	263	27	response	response	NOUN
globalce-260	263	28	during	during	ADP
globalce-260	263	29	instrument	instrument	NOUN
globalce-260	263	30	interactions	interaction	NOUN
globalce-260	263	31	simulation	simulation	NOUN
globalce-260	263	32	interactions	interaction	NOUN
globalce-260	263	33	with	with	ADP
globalce-260	263	34	surgical	surgical	ADJ
globalce-260	263	35	instruments	instrument	NOUN
globalce-260	263	36	.	.	PUNCT
globalce-260	264	1	initially	initially	ADV
globalce-260	264	2	,	,	PUNCT
globalce-260	264	3	the	the	DET
globalce-260	264	4	investigation	investigation	NOUN
globalce-260	264	5	focuses	focus	VERB
globalce-260	264	6	on	on	ADP
globalce-260	264	7	the	the	DET
globalce-260	264	8	movement	movement	NOUN
globalce-260	264	9	of	of	ADP
globalce-260	264	10	instruments	instrument	NOUN
globalce-260	264	11	,	,	PUNCT
globalce-260	264	12	utilizing	utilize	VERB
globalce-260	264	13	a	a	DET
globalce-260	264	14	direct	direct	ADJ
globalce-260	264	15	kinematic	kinematic	ADJ
globalce-260	264	16	task	task	NOUN
globalce-260	264	17	to	to	AUX
globalce-260	264	18	control	control	VERB
globalce-260	264	19	actions	action	NOUN
globalce-260	264	20	in	in	ADP
globalce-260	264	21	teleoperated	teleoperated	ADJ
globalce-260	264	22	environments	environment	NOUN
globalce-260	264	23	.	.	PUNCT
globalce-260	265	1	the	the	DET
globalce-260	265	2	derived	derived	ADJ
globalce-260	265	3	analytical	analytical	ADJ
globalce-260	265	4	dependencies	dependency	NOUN
globalce-260	265	5	of	of	ADP
globalce-260	265	6	the	the	DET
globalce-260	265	7	transmission	transmission	NOUN
globalce-260	265	8	functions	function	NOUN
globalce-260	265	9	enable	enable	VERB
globalce-260	265	10	the	the	DET
globalce-260	265	11	execution	execution	NOUN
globalce-260	265	12	of	of	ADP
globalce-260	265	13	computational	computational	ADJ
globalce-260	265	14	procedures	procedure	NOUN
globalce-260	265	15	aimed	aim	VERB
globalce-260	265	16	at	at	ADP
globalce-260	265	17	optimizing	optimize	VERB
globalce-260	265	18	dimensions	dimension	NOUN
globalce-260	265	19	within	within	ADP
globalce-260	265	20	specified	specified	ADJ
globalce-260	265	21	constraints	constraint	NOUN
globalce-260	265	22	,	,	PUNCT
globalce-260	265	23	which	which	PRON
globalce-260	265	24	can	can	AUX
globalce-260	265	25	subsequently	subsequently	ADV
globalce-260	265	26	be	be	AUX
globalce-260	265	27	integrated	integrate	VERB
globalce-260	265	28	into	into	ADP
globalce-260	265	29	software	software	NOUN
globalce-260	265	30	for	for	ADP
globalce-260	265	31	controlling	control	VERB
globalce-260	265	32	tool	tool	NOUN
globalce-260	265	33	movements	movement	NOUN
globalce-260	265	34	.	.	PUNCT
globalce-260	266	1	the	the	DET
globalce-260	266	2	architecture	architecture	NOUN
globalce-260	266	3	of	of	ADP
globalce-260	266	4	the	the	DET
globalce-260	266	5	control	control	NOUN
globalce-260	266	6	program	program	NOUN
globalce-260	266	7	algorithms	algorithm	NOUN
globalce-260	266	8	is	be	AUX
globalce-260	266	9	reviewed	review	VERB
globalce-260	266	10	,	,	PUNCT
globalce-260	266	11	highlighting	highlight	VERB
globalce-260	266	12	the	the	DET
globalce-260	266	13	simulation	simulation	NOUN
globalce-260	266	14	module	module	NOUN
globalce-260	266	15	’s	’s	PART
globalce-260	266	16	relevance	relevance	NOUN
globalce-260	266	17	to	to	ADP
globalce-260	266	18	this	this	DET
globalce-260	266	19	research	research	NOUN
globalce-260	266	20	.	.	PUNCT
globalce-260	267	1	this	this	DET
globalce-260	267	2	training	training	NOUN
globalce-260	267	3	platform	platform	NOUN
globalce-260	267	4	was	be	AUX
globalce-260	267	5	developed	develop	VERB
globalce-260	267	6	so	so	SCONJ
globalce-260	267	7	that	that	SCONJ
globalce-260	267	8	students	student	NOUN
globalce-260	267	9	and	and	CCONJ
globalce-260	267	10	surgeons	surgeon	NOUN
globalce-260	267	11	can	can	AUX
globalce-260	267	12	improve	improve	VERB
globalce-260	267	13	their	their	PRON
globalce-260	267	14	qualifications	qualification	NOUN
globalce-260	267	15	without	without	ADP
globalce-260	267	16	using	use	VERB
globalce-260	267	17	living	live	VERB
globalce-260	267	18	organisms	organism	NOUN
globalce-260	267	19	—	—	PUNCT
globalce-260	267	20	humans	human	NOUN
globalce-260	267	21	and	and	CCONJ
globalce-260	267	22	animals	animal	NOUN
globalce-260	267	23	subsequently	subsequently	ADV
globalce-260	267	24	,	,	PUNCT
globalce-260	267	25	a	a	DET
globalce-260	267	26	3d	3d	NUM
globalce-260	267	27	augmented	augment	VERB
globalce-260	267	28	model	model	NOUN
globalce-260	267	29	simulating	simulate	VERB
globalce-260	267	30	a	a	DET
globalce-260	267	31	human	human	ADJ
globalce-260	267	32	organ	organ	NOUN
globalce-260	267	33	’s	’s	PART
globalce-260	267	34	response	response	NOUN
globalce-260	267	35	to	to	ADP
globalce-260	267	36	external	external	ADJ
globalce-260	267	37	impacts	impact	NOUN
globalce-260	267	38	is	be	AUX
globalce-260	267	39	developed	develop	VERB
globalce-260	267	40	using	use	VERB
globalce-260	267	41	unity	unity	NOUN
globalce-260	267	42	3d	3d	NUM
globalce-260	267	43	modeling	modeling	NOUN
globalce-260	267	44	capabilities	capability	NOUN
globalce-260	267	45	.	.	PUNCT
globalce-260	268	1	the	the	DET
globalce-260	268	2	model	model	NOUN
globalce-260	268	3	’s	’s	PART
globalce-260	268	4	behavior	behavior	NOUN
globalce-260	268	5	is	be	AUX
globalce-260	268	6	illustrated	illustrate	VERB
globalce-260	268	7	through	through	ADP
globalce-260	268	8	the	the	DET
globalce-260	268	9	collision	collision	NOUN
globalce-260	268	10	of	of	ADP
globalce-260	268	11	two	two	NUM
globalce-260	268	12	rigid	rigid	ADJ
globalce-260	268	13	objects	object	NOUN
globalce-260	268	14	exhibiting	exhibit	VERB
globalce-260	268	15	different	different	ADJ
globalce-260	268	16	physical	physical	ADJ
globalce-260	268	17	properties	property	NOUN
globalce-260	268	18	.	.	PUNCT
globalce-260	269	1	the	the	DET
globalce-260	269	2	application	application	NOUN
globalce-260	269	3	of	of	ADP
globalce-260	269	4	the	the	DET
globalce-260	269	5	mesh	mesh	NOUN
globalce-260	269	6	class	class	NOUN
globalce-260	269	7	for	for	ADP
globalce-260	269	8	deforming	deform	VERB
globalce-260	269	9	a	a	DET
globalce-260	269	10	3d	3d	NUM
globalce-260	269	11	object	object	NOUN
globalce-260	269	12	within	within	ADP
globalce-260	269	13	unity	unity	NOUN
globalce-260	269	14	is	be	AUX
globalce-260	269	15	implemented	implement	VERB
globalce-260	269	16	via	via	ADP
globalce-260	269	17	scripting	scripting	NOUN
globalce-260	269	18	.	.	PUNCT
globalce-260	270	1	results	result	NOUN
globalce-260	270	2	depicting	depict	VERB
globalce-260	270	3	the	the	DET
globalce-260	270	4	3d	3d	NUM
globalce-260	270	5	augmented	augment	VERB
globalce-260	270	6	model	model	NOUN
globalce-260	270	7	’s	’s	PART
globalce-260	270	8	response	response	NOUN
globalce-260	270	9	to	to	ADP
globalce-260	270	10	external	external	ADJ
globalce-260	270	11	impacts	impact	NOUN
globalce-260	270	12	are	be	AUX
globalce-260	270	13	presented	present	VERB
globalce-260	270	14	,	,	PUNCT
globalce-260	270	15	with	with	SCONJ
globalce-260	270	16	the	the	DET
globalce-260	270	17	coding	coding	NOUN
globalce-260	270	18	distilled	distil	VERB
globalce-260	270	19	into	into	ADP
globalce-260	270	20	a	a	DET
globalce-260	270	21	fundamental	fundamental	ADJ
globalce-260	270	22	script	script	NOUN
globalce-260	270	23	that	that	PRON
globalce-260	270	24	initiates	initiate	VERB
globalce-260	270	25	interactions	interaction	NOUN
globalce-260	270	26	between	between	ADP
globalce-260	270	27	collider	collider	NOUN
globalce-260	270	28	objects	object	NOUN
globalce-260	270	29	and	and	CCONJ
globalce-260	270	30	the	the	DET
globalce-260	270	31	deformation	deformation	NOUN
globalce-260	270	32	of	of	ADP
globalce-260	270	33	rigid	rigid	ADJ
globalce-260	270	34	bodies	body	NOUN
globalce-260	270	35	.	.	PUNCT
globalce-260	271	1	this	this	DET
globalce-260	271	2	script	script	NOUN
globalce-260	271	3	must	must	AUX
globalce-260	271	4	be	be	AUX
globalce-260	271	5	attached	attach	VERB
globalce-260	271	6	to	to	ADP
globalce-260	271	7	the	the	DET
globalce-260	271	8	corresponding	corresponding	ADJ
globalce-260	271	9	object	object	NOUN
globalce-260	271	10	,	,	PUNCT
globalce-260	271	11	with	with	ADP
globalce-260	271	12	an	an	DET
globalce-260	271	13	example	example	NOUN
globalce-260	271	14	provided	provide	VERB
globalce-260	271	15	utilizing	utilize	VERB
globalce-260	271	16	the	the	DET
globalce-260	271	17	unity	unity	NOUN
globalce-260	271	18	engine	engine	NOUN
globalce-260	271	19	.	.	PUNCT
globalce-260	272	1	future	future	ADJ
globalce-260	272	2	investigations	investigation	NOUN
globalce-260	272	3	will	will	AUX
globalce-260	272	4	specifically	specifically	ADV
globalce-260	272	5	focus	focus	VERB
globalce-260	272	6	on	on	ADP
globalce-260	272	7	computational	computational	ADJ
globalce-260	272	8	methods	method	NOUN
globalce-260	272	9	and	and	CCONJ
globalce-260	272	10	animation	animation	NOUN
globalce-260	272	11	projections	projection	NOUN
globalce-260	272	12	to	to	PART
globalce-260	272	13	quantify	quantify	VERB
globalce-260	272	14	both	both	DET
globalce-260	272	15	tool	tool	NOUN
globalce-260	272	16	–	–	PUNCT
globalce-260	272	17	tissue	tissue	NOUN
globalce-260	272	18	forces	force	NOUN
globalce-260	272	19	and	and	CCONJ
globalce-260	272	20	maximum	maximum	ADJ
globalce-260	272	21	local	local	ADJ
globalce-260	272	22	strength	strength	NOUN
globalce-260	272	23	.	.	PUNCT
globalce-260	273	1	the	the	DET
globalce-260	273	2	outcomes	outcome	NOUN
globalce-260	273	3	of	of	ADP
globalce-260	273	4	this	this	DET
globalce-260	273	5	research	research	NOUN
globalce-260	273	6	are	be	AUX
globalce-260	273	7	deemed	deem	VERB
globalce-260	273	8	applicable	applicable	ADJ
globalce-260	273	9	to	to	ADP
globalce-260	273	10	surgical	surgical	ADJ
globalce-260	273	11	education	education	NOUN
globalce-260	273	12	,	,	PUNCT
globalce-260	273	13	allowing	allow	VERB
globalce-260	273	14	for	for	ADP
globalce-260	273	15	the	the	DET
globalce-260	273	16	development	development	NOUN
globalce-260	273	17	of	of	ADP
globalce-260	273	18	training	training	NOUN
globalce-260	273	19	tasks	task	NOUN
globalce-260	273	20	aimed	aim	VERB
globalce-260	273	21	at	at	ADP
globalce-260	273	22	cultivating	cultivate	VERB
globalce-260	273	23	skills	skill	NOUN
globalce-260	273	24	necessary	necessary	ADJ
globalce-260	273	25	for	for	ADP
globalce-260	273	26	minimally	minimally	ADV
globalce-260	273	27	invasive	invasive	ADJ
globalce-260	273	28	surgical	surgical	ADJ
globalce-260	273	29	procedures	procedure	NOUN
globalce-260	273	30	.	.	PUNCT
globalce-260	274	1	author	author	NOUN
globalce-260	274	2	contributions	contribution	NOUN
globalce-260	274	3	conceptualization	conceptualization	NOUN
globalce-260	274	4	,	,	PUNCT
globalce-260	274	5	v.i	v.i	PROPN
globalce-260	274	6	.	.	PROPN
globalce-260	274	7	,	,	PUNCT
globalce-260	274	8	p.v.v	p.v.v	PROPN
globalce-260	274	9	.	.	PUNCT
globalce-260	274	10	and	and	CCONJ
globalce-260	274	11	a.t.b	a.t.b	PROPN
globalce-260	274	12	.	.	PROPN
globalce-260	274	13	;	;	PUNCT
globalce-260	274	14	methodology	methodology	PROPN
globalce-260	274	15	,	,	PUNCT
globalce-260	274	16	v.i	v.i	PROPN
globalce-260	274	17	.	.	PROPN
globalce-260	274	18	,	,	PUNCT
globalce-260	274	19	p.v.v	p.v.v	PROPN
globalce-260	274	20	.	.	PUNCT
globalce-260	274	21	and	and	CCONJ
globalce-260	274	22	a.t.b	a.t.b	PROPN
globalce-260	274	23	.	.	PROPN
globalce-260	274	24	;	;	PUNCT
globalce-260	275	1	software	software	NOUN
globalce-260	275	2	,	,	PUNCT
globalce-260	275	3	p.v.v	p.v.v	NOUN
globalce-260	275	4	.	.	PUNCT
globalce-260	275	5	and	and	CCONJ
globalce-260	275	6	a.t.b	a.t.b	PROPN
globalce-260	275	7	.	.	PROPN
globalce-260	275	8	;	;	PUNCT
globalce-260	275	9	hardware	hardware	NOUN
globalce-260	275	10	,	,	PUNCT
globalce-260	275	11	v.i	v.i	PROPN
globalce-260	275	12	.	.	PROPN
globalce-260	275	13	;	;	PUNCT
globalce-260	275	14	validation	validation	NOUN
globalce-260	275	15	,	,	PUNCT
globalce-260	275	16	v.i	v.i	PROPN
globalce-260	275	17	,	,	PUNCT
globalce-260	275	18	p.v.v	p.v.v	NOUN
globalce-260	275	19	.	.	PUNCT
globalce-260	275	20	and	and	CCONJ
globalce-260	275	21	a.t.b	a.t.b	PROPN
globalce-260	275	22	.	.	PUNCT
globalce-260	275	23	;	;	PUNCT
globalce-260	275	24	formal	formal	ADJ
globalce-260	275	25	analysis	analysis	NOUN
globalce-260	275	26	,	,	PUNCT
globalce-260	275	27	v.i	v.i	PROPN
globalce-260	275	28	and	and	CCONJ
globalce-260	275	29	p.v.v	p.v.v	PROPN
globalce-260	275	30	.	.	PUNCT
globalce-260	275	31	;	;	PUNCT
globalce-260	275	32	investigation	investigation	NOUN
globalce-260	275	33	v.i	v.i	PROPN
globalce-260	275	34	.	.	PROPN
globalce-260	275	35	,	,	PUNCT
globalce-260	275	36	p.v.v	p.v.v	PROPN
globalce-260	275	37	.	.	PUNCT
globalce-260	275	38	,	,	PUNCT
globalce-260	275	39	and	and	CCONJ
globalce-260	275	40	a.t.b	a.t.b	PROPN
globalce-260	275	41	.	.	PROPN
globalce-260	275	42	;	;	PUNCT
globalce-260	275	43	re	re	NOUN
globalce-260	275	44	-	-	NOUN
globalce-260	275	45	sources	source	NOUN
globalce-260	275	46	,	,	PUNCT
globalce-260	275	47	v.i	v.i	PROPN
globalce-260	275	48	.	.	PROPN
globalce-260	275	49	and	and	CCONJ
globalce-260	275	50	p.v.v	p.v.v	PROPN
globalce-260	275	51	.	.	PUNCT
globalce-260	275	52	;	;	PUNCT
globalce-260	275	53	data	datum	NOUN
globalce-260	275	54	curation	curation	NOUN
globalce-260	275	55	,	,	PUNCT
globalce-260	275	56	v.i	v.i	PROPN
globalce-260	275	57	.	.	PROPN
globalce-260	275	58	;	;	PUNCT
globalce-260	275	59	writing	write	VERB
globalce-260	275	60	–	–	PUNCT
globalce-260	275	61	original	original	ADJ
globalce-260	275	62	draft	draft	NOUN
globalce-260	275	63	preparation	preparation	NOUN
globalce-260	275	64	,	,	PUNCT
globalce-260	275	65	v.i	v.i	PROPN
globalce-260	275	66	.	.	PROPN
globalce-260	275	67	,	,	PUNCT
globalce-260	275	68	p.v.v	p.v.v	PROPN
globalce-260	275	69	.	.	PUNCT
globalce-260	275	70	and	and	CCONJ
globalce-260	275	71	a.t.b	a.t.b	PROPN
globalce-260	275	72	.	.	PROPN
globalce-260	275	73	;	;	PUNCT
globalce-260	275	74	writing	write	VERB
globalce-260	275	75	–	–	PUNCT
globalce-260	275	76	review	review	NOUN
globalce-260	275	77	&	&	CCONJ
globalce-260	275	78	editing	editing	PROPN
globalce-260	275	79	,	,	PUNCT
globalce-260	275	80	v.i	v.i	PROPN
globalce-260	275	81	.	.	PROPN
globalce-260	275	82	,	,	PUNCT
globalce-260	275	83	p.v.v	p.v.v	PROPN
globalce-260	275	84	.	.	PUNCT
globalce-260	275	85	and	and	CCONJ
globalce-260	275	86	a.t.b	a.t.b	PROPN
globalce-260	275	87	.	.	PROPN
globalce-260	275	88	;	;	PUNCT
globalce-260	275	89	visualization	visualization	NOUN
globalce-260	275	90	,	,	PUNCT
globalce-260	275	91	p.v.v	p.v.v	NOUN
globalce-260	275	92	.	.	PUNCT
globalce-260	275	93	and	and	CCONJ
globalce-260	275	94	a.t.b	a.t.b	PROPN
globalce-260	275	95	.	.	PROPN
globalce-260	275	96	;	;	PUNCT
globalce-260	275	97	supervision	supervision	NOUN
globalce-260	275	98	,	,	PUNCT
globalce-260	275	99	v.i	v.i	PROPN
globalce-260	275	100	.	.	PROPN
globalce-260	275	101	and	and	CCONJ
globalce-260	275	102	p.v.v	p.v.v	PROPN
globalce-260	275	103	.	.	PUNCT
globalce-260	275	104	;	;	PUNCT
globalce-260	275	105	project	project	NOUN
globalce-260	275	106	administration	administration	PROPN
globalce-260	275	107	,	,	PUNCT
globalce-260	275	108	v.i	v.i	PROPN
globalce-260	275	109	.	.	PROPN
globalce-260	275	110	acknowledgments	acknowledgment	NOUN
globalce-260	275	111	this	this	DET
globalce-260	275	112	work	work	NOUN
globalce-260	275	113	is	be	AUX
globalce-260	275	114	developed	develop	VERB
globalce-260	275	115	as	as	ADP
globalce-260	275	116	part	part	NOUN
globalce-260	275	117	of	of	ADP
globalce-260	275	118	contract	contract	NOUN
globalce-260	275	119	№	№	NOUN
globalce-260	275	120	:	:	PUNCT
globalce-260	275	121	bg16rfpr002	bg16rfpr002	ADP
globalce-260	275	122	-	-	PUNCT
globalce-260	275	123	1.002	1.002	NUM
globalce-260	275	124	-	-	PUNCT
globalce-260	275	125	0009	0009	NUM
globalce-260	275	126	-	-	PUNCT
globalce-260	275	127	c01	c01	NOUN
globalce-260	275	128	,	,	PUNCT
globalce-260	275	129	project	project	NOUN
globalce-260	275	130	name	name	NOUN
globalce-260	275	131	:	:	PUNCT
globalce-260	275	132	'	'	PUNCT
globalce-260	275	133	regional	regional	ADJ
globalce-260	275	134	center	center	NOUN
globalce-260	275	135	for	for	ADP
globalce-260	275	136	digital	digital	ADJ
globalce-260	275	137	solutions	solution	NOUN
globalce-260	275	138	and	and	CCONJ
globalce-260	275	139	innovation	innovation	NOUN
globalce-260	275	140	nciz	nciz	PROPN
globalce-260	275	141	’	'	PUNCT
globalce-260	275	142	,	,	PUNCT
globalce-260	275	143	under	under	ADP
globalce-260	275	144	procedure	procedure	NOUN
globalce-260	275	145	bg16rfpr002	bg16rfpr002	NOUN
globalce-260	275	146	-	-	PUNCT
globalce-260	275	147	1.002	1.002	NUM
globalce-260	275	148	-	-	PUNCT
globalce-260	275	149	funding	funding	NOUN
globalce-260	275	150	of	of	ADP
globalce-260	275	151	selected	select	VERB
globalce-260	275	152	by	by	ADP
globalce-260	275	153	the	the	DET
globalce-260	275	154	european	european	PROPN
globalce-260	275	155	commission	commission	PROPN
globalce-260	275	156	european	european	PROPN
globalce-260	275	157	digital	digital	PROPN
globalce-260	275	158	innovation	innovation	NOUN
globalce-260	275	159	hubs	hub	NOUN
globalce-260	275	160	awarded	award	VERB
globalce-260	275	161	with	with	ADP
globalce-260	275	162	seal	seal	NOUN
globalce-260	275	163	of	of	ADP
globalce-260	275	164	excellence	excellence	NOUN
globalce-260	275	165	,	,	PUNCT
globalce-260	275	166	funded	fund	VERB
globalce-260	275	167	by	by	ADP
globalce-260	275	168	operational	operational	ADJ
globalce-260	275	169	programme	programme	NOUN
globalce-260	275	170	'	'	PUNCT
globalce-260	275	171	research	research	NOUN
globalce-260	275	172	,	,	PUNCT
globalce-260	275	173	innovation	innovation	NOUN
globalce-260	275	174	and	and	CCONJ
globalce-260	275	175	digitalization	digitalization	NOUN
globalce-260	275	176	for	for	ADP
globalce-260	275	177	smart	smart	ADJ
globalce-260	275	178	transformation	transformation	NOUN
globalce-260	275	179	’	'	PUNCT
globalce-260	275	180	.	.	PUNCT
globalce-260	276	1	funding	fund	VERB
globalce-260	276	2	this	this	DET
globalce-260	276	3	research	research	NOUN
globalce-260	276	4	received	receive	VERB
globalce-260	276	5	no	no	DET
globalce-260	276	6	external	external	ADJ
globalce-260	276	7	funding	funding	NOUN
globalce-260	276	8	.	.	PUNCT
globalce-260	277	1	data	datum	NOUN
globalce-260	277	2	availability	availability	NOUN
globalce-260	277	3	statement	statement	NOUN
globalce-260	277	4	not	not	PART
globalce-260	277	5	applicable	applicable	ADJ
globalce-260	277	6	.	.	PUNCT
globalce-260	278	1	conflicts	conflict	NOUN
globalce-260	278	2	of	of	ADP
globalce-260	278	3	interest	interest	NOUN
globalce-260	278	4	the	the	DET
globalce-260	278	5	authors	author	NOUN
globalce-260	278	6	declare	declare	VERB
globalce-260	278	7	no	no	DET
globalce-260	278	8	conflict	conflict	NOUN
globalce-260	278	9	of	of	ADP
globalce-260	278	10	interest	interest	NOUN
globalce-260	278	11	.	.	PUNCT
globalce-260	279	1	ethics	ethic	NOUN
globalce-260	279	2	approval	approval	NOUN
globalce-260	279	3	and	and	CCONJ
globalce-260	279	4	consent	consent	NOUN
globalce-260	279	5	to	to	PART
globalce-260	279	6	participate	participate	VERB
globalce-260	279	7	not	not	PART
globalce-260	279	8	applicable	applicable	ADJ
globalce-260	279	9	.	.	PUNCT
globalce-260	280	1	consent	consent	NOUN
globalce-260	280	2	for	for	ADP
globalce-260	280	3	publication	publication	NOUN
globalce-260	280	4	not	not	PART
globalce-260	280	5	applicable	applicable	ADJ
globalce-260	280	6	.	.	PUNCT
globalce-260	281	1	consent	consent	NOUN
globalce-260	281	2	for	for	ADP
globalce-260	281	3	publication	publication	NOUN
globalce-260	281	4	not	not	PART
globalce-260	281	5	applicable	applicable	ADJ
globalce-260	281	6	.	.	PUNCT
globalce-260	282	1	references	reference	NOUN
globalce-260	282	2	1	1	NUM
globalce-260	282	3	.	.	PUNCT
globalce-260	283	1	borissova	borissova	PROPN
globalce-260	283	2	,	,	PUNCT
globalce-260	283	3	d.	d.	PROPN
globalce-260	283	4	and	and	CCONJ
globalce-260	283	5	mustakerov	mustakerov	PROPN
globalce-260	283	6	,	,	PUNCT
globalce-260	283	7	i.	i.	NOUN
globalce-260	283	8	methodology	methodology	PROPN
globalce-260	283	9	for	for	ADP
globalce-260	283	10	design	design	NOUN
globalce-260	283	11	of	of	ADP
globalce-260	283	12	web	web	NOUN
globalce-260	283	13	-	-	PUNCT
globalce-260	283	14	based	base	VERB
globalce-260	283	15	laparoscopy	laparoscopy	NOUN
globalce-260	283	16	e	e	NOUN
globalce-260	283	17	-	-	NOUN
globalce-260	283	18	training	training	NOUN
globalce-260	283	19	system	system	NOUN
globalce-260	283	20	.	.	PUNCT
globalce-260	284	1	eurodl	eurodl	ADJ
globalce-260	284	2	.	.	PUNCT
globalce-260	285	1	2011;1–9	2011;1–9	NUM
globalce-260	285	2	.	.	PUNCT
globalce-260	285	3	available	available	ADJ
globalce-260	285	4	online	online	ADV
globalce-260	285	5	:	:	PUNCT
globalce-260	285	6	https://www.academia.edu/71469000/	https://www.academia.edu/71469000/	NOUN
globalce-260	285	7	methodology_for_design_of_web_based_laparoscopy_e	methodology_for_design_of_web_based_laparoscopy_e	NOUN
globalce-260	285	8	_	_	NOUN
globalce-260	285	9	training_system	training_system	NOUN
globalce-260	285	10	.	.	PUNCT
globalce-260	286	1	2	2	X
globalce-260	286	2	.	.	X
globalce-260	286	3	lian	lian	PROPN
globalce-260	286	4	,	,	PUNCT
globalce-260	286	5	l.	l.	PROPN
globalce-260	286	6	and	and	CCONJ
globalce-260	286	7	chen	chen	PROPN
globalce-260	286	8	,	,	PUNCT
globalce-260	286	9	y.h	y.h	PROPN
globalce-260	286	10	.	.	PROPN
globalce-260	286	11	haptic	haptic	ADJ
globalce-260	286	12	surgical	surgical	ADJ
globalce-260	286	13	simulation	simulation	NOUN
globalce-260	286	14	:	:	PUNCT
globalce-260	286	15	an	an	DET
globalce-260	286	16	application	application	NOUN
globalce-260	286	17	to	to	ADP
globalce-260	286	18	virtual	virtual	ADJ
globalce-260	286	19	suture	suture	NOUN
globalce-260	286	20	,	,	PUNCT
globalce-260	286	21	in	in	ADP
globalce-260	286	22	:	:	PUNCT
globalce-260	286	23	computer	computer	NOUN
globalce-260	286	24	-	-	PUNCT
globalce-260	286	25	aided	aid	VERB
globalce-260	286	26	design	design	NOUN
globalce-260	286	27	&	&	CCONJ
globalce-260	286	28	applications	application	NOUN
globalce-260	286	29	.	.	PUNCT
globalce-260	287	1	2006;3:203–210	2006;3:203–210	X
globalce-260	287	2	.	.	PUNCT
globalce-260	288	1	available	available	ADJ
globalce-260	288	2	online	online	ADV
globalce-260	288	3	:	:	PUNCT
globalce-260	288	4	https://	https://	PROPN
globalce-260	288	5	citeseerx.ist.psu.edu/document?repid=rep1&type=pdf	citeseerx.ist.psu.edu/document?repid=rep1&type=pdf	PROPN
globalce-260	288	6	&	&	CCONJ
globalce-260	288	7	doi=5b8035ee9506aca522da134ec11e119e19202a64	doi=5b8035ee9506aca522da134ec11e119e19202a64	PROPN
globalce-260	288	8	.	.	PUNCT
globalce-260	289	1	https://www.academia.edu/71469000/methodology_for_design_of_web_based_laparoscopy_e_training_system	https://www.academia.edu/71469000/methodology_for_design_of_web_based_laparoscopy_e_training_system	INTJ
globalce-260	290	1	https://www.academia.edu/71469000/methodology_for_design_of_web_based_laparoscopy_e_training_system	https://www.academia.edu/71469000/methodology_for_design_of_web_based_laparoscopy_e_training_system	INTJ
globalce-260	290	2	https://www.academia.edu/71469000/methodology_for_design_of_web_based_laparoscopy_e_training_system	https://www.academia.edu/71469000/methodology_for_design_of_web_based_laparoscopy_e_training_system	X
globalce-260	290	3	https://citeseerx.ist.psu.edu/document?repid=rep1&type=pdf&doi=5b8035ee9506aca522da134ec11e119e19202a64	https://citeseerx.ist.psu.edu/document?repid=rep1&type=pdf&doi=5b8035ee9506aca522da134ec11e119e19202a64	PROPN
globalce-260	290	4	https://citeseerx.ist.psu.edu/document?repid=rep1&type=pdf&doi=5b8035ee9506aca522da134ec11e119e19202a64	https://citeseerx.ist.psu.edu/document?repid=rep1&type=pdf&doi=5b8035ee9506aca522da134ec11e119e19202a64	PROPN
globalce-260	290	5	https://citeseerx.ist.psu.edu/document?repid=rep1&type=pdf&doi=5b8035ee9506aca522da134ec11e119e19202a64	https://citeseerx.ist.psu.edu/document?repid=rep1&type=pdf&doi=5b8035ee9506aca522da134ec11e119e19202a64	PROPN
globalce-260	290	6	ivanova	ivanova	PROPN
globalce-260	290	7	,	,	PUNCT
globalce-260	290	8	vasilev	vasilev	NOUN
globalce-260	290	9	,	,	PUNCT
globalce-260	290	10	boneva	boneva	ADV
globalce-260	290	11	:	:	PUNCT
globalce-260	290	12	training	training	NOUN
globalce-260	290	13	of	of	ADP
globalce-260	290	14	surgical	surgical	ADJ
globalce-260	290	15	skills	skill	NOUN
globalce-260	290	16	by	by	ADP
globalce-260	290	17	a	a	DET
globalce-260	290	18	3d	3d	NUM
globalce-260	290	19	augmented	augment	VERB
globalce-260	290	20	liver	liver	NOUN
globalce-260	290	21	model	model	NOUN
globalce-260	290	22	response	response	NOUN
globalce-260	290	23	during	during	ADP
globalce-260	290	24	instrument	instrument	NOUN
globalce-260	290	25	interactions	interaction	NOUN
globalce-260	290	26	simulation	simulation	NOUN
globalce-260	290	27	j	j	PROPN
globalce-260	290	28	global	global	ADJ
globalce-260	290	29	clinical	clinical	ADJ
globalce-260	290	30	engineering	engineering	NOUN
globalce-260	290	31	vol.7	vol.7	PROPN
globalce-260	290	32	issue	issue	NOUN
globalce-260	290	33	3	3	NUM
globalce-260	290	34	:	:	SYM
globalce-260	290	35	2025	2025	NUM
globalce-260	290	36	100	100	NUM
globalce-260	290	37	3	3	NUM
globalce-260	290	38	.	.	PUNCT
globalce-260	290	39	berkley	berkley	PROPN
globalce-260	290	40	,	,	PUNCT
globalce-260	290	41	j.	j.	PROPN
globalce-260	290	42	,	,	PUNCT
globalce-260	290	43	turkiyyah	turkiyyah	PROPN
globalce-260	290	44	,	,	PUNCT
globalce-260	290	45	g.	g.	PROPN
globalce-260	290	46	,	,	PUNCT
globalce-260	290	47	berg	berg	PROPN
globalce-260	290	48	,	,	PUNCT
globalce-260	290	49	d.	d.	PROPN
globalce-260	290	50	,	,	PUNCT
globalce-260	290	51	et	et	PROPN
globalce-260	290	52	al	al	PROPN
globalce-260	290	53	.	.	PUNCT
globalce-260	291	1	real	real	ADJ
globalce-260	291	2	-	-	PUNCT
globalce-260	291	3	time	time	NOUN
globalce-260	291	4	finite	finite	PROPN
globalce-260	291	5	element	element	NOUN
globalce-260	291	6	modeling	modeling	NOUN
globalce-260	291	7	for	for	ADP
globalce-260	291	8	surgery	surgery	NOUN
globalce-260	291	9	simulation	simulation	NOUN
globalce-260	291	10	:	:	PUNCT
globalce-260	291	11	an	an	DET
globalce-260	291	12	application	application	NOUN
globalce-260	291	13	to	to	ADP
globalce-260	291	14	virtual	virtual	ADJ
globalce-260	291	15	suturing	suturing	NOUN
globalce-260	291	16	.	.	PUNCT
globalce-260	292	1	tvcg	tvcg	ADJ
globalce-260	292	2	.	.	PUNCT
globalce-260	293	1	2004;10(3):314–325	2004;10(3):314–325	NUM
globalce-260	293	2	.	.	PUNCT
globalce-260	294	1	https://	https://	PROPN
globalce-260	294	2	doi.org/10.1109/tvcg.2004.1272730	doi.org/10.1109/tvcg.2004.1272730	PROPN
globalce-260	294	3	.	.	NOUN
globalce-260	295	1	4	4	X
globalce-260	295	2	.	.	X
globalce-260	295	3	sorkine	sorkine	NOUN
globalce-260	295	4	,	,	PUNCT
globalce-260	295	5	o.	o.	PROPN
globalce-260	295	6	and	and	CCONJ
globalce-260	295	7	alexa	alexa	NOUN
globalce-260	295	8	,	,	PUNCT
globalce-260	295	9	m.	m.	NOUN
globalce-260	295	10	as	as	ADP
globalce-260	295	11	-	-	PUNCT
globalce-260	295	12	rigid	rigid	ADJ
globalce-260	295	13	-	-	PUNCT
globalce-260	295	14	as	as	ADP
globalce-260	295	15	-	-	PUNCT
globalce-260	295	16	possible	possible	ADJ
globalce-260	295	17	surface	surface	NOUN
globalce-260	295	18	modeling	modeling	NOUN
globalce-260	295	19	,	,	PUNCT
globalce-260	295	20	eurographics	eurographic	NOUN
globalce-260	295	21	symposium	symposium	NOUN
globalce-260	295	22	on	on	ADP
globalce-260	295	23	geometry	geometry	NOUN
globalce-260	295	24	processing	processing	NOUN
globalce-260	295	25	,	,	PUNCT
globalce-260	295	26	a.	a.	NOUN
globalce-260	295	27	belyaev	belyaev	PROPN
globalce-260	295	28	and	and	CCONJ
globalce-260	295	29	m.	m.	NOUN
globalce-260	295	30	garland	garland	PROPN
globalce-260	295	31	,	,	PUNCT
globalce-260	295	32	eds	eds	PROPN
globalce-260	295	33	.	.	PUNCT
globalce-260	296	1	the	the	DET
globalce-260	296	2	eurographics	eurographics	PROPN
globalce-260	296	3	association	association	PROPN
globalce-260	296	4	.	.	PUNCT
globalce-260	297	1	2007;1–8	2007;1–8	NUM
globalce-260	297	2	.	.	PUNCT
globalce-260	297	3	available	available	ADJ
globalce-260	297	4	online	online	ADV
globalce-260	297	5	:	:	PUNCT
globalce-260	297	6	https://igl.ethz.ch/projects/	https://igl.ethz.ch/projects/	PROPN
globalce-260	297	7	arap	arap	PROPN
globalce-260	297	8	/	/	SYM
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globalce-260	297	10	.	.	PUNCT
globalce-260	298	1	5	5	NUM
globalce-260	298	2	.	.	X
globalce-260	298	3	passport	passport	NOUN
globalce-260	298	4	,	,	PUNCT
globalce-260	298	5	interactive	interactive	ADJ
globalce-260	298	6	simulation	simulation	NOUN
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globalce-260	298	8	liver	liver	NOUN
globalce-260	298	9	resection	resection	NOUN
globalce-260	298	10	passport	passport	NOUN
globalce-260	298	11	demonstration	demonstration	NOUN
globalce-260	298	12	at	at	ADP
globalce-260	298	13	siggraph	siggraph	NOUN
globalce-260	298	14	.	.	PUNCT
globalce-260	298	15	2012	2012	NUM
globalce-260	298	16	.	.	PUNCT
globalce-260	299	1	available	available	ADJ
globalce-260	299	2	online	online	ADV
globalce-260	299	3	:	:	PUNCT
globalce-260	299	4	http://raweb.inria.fr/rapportsactivite/ra2011/s.h.a.m.a.n/	http://raweb.inria.fr/rapportsactivite/ra2011/s.h.a.m.a.n/	NOUN
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globalce-260	299	6	.	.	PUNCT
globalce-260	300	1	6	6	NUM
globalce-260	300	2	.	.	X
globalce-260	300	3	acharya	acharya	PROPN
globalce-260	300	4	,	,	PUNCT
globalce-260	300	5	m.	m.	NOUN
globalce-260	300	6	modelling	modelling	NOUN
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globalce-260	300	8	diaphragm	diaphragm	PROPN
globalce-260	300	9	motion	motion	NOUN
globalce-260	300	10	for	for	ADP
globalce-260	300	11	simulation	simulation	NOUN
globalce-260	300	12	of	of	ADP
globalce-260	300	13	liver	liver	NOUN
globalce-260	300	14	access	access	NOUN
globalce-260	300	15	:	:	PUNCT
globalce-260	300	16	surgery	surgery	NOUN
globalce-260	300	17	and	and	CCONJ
globalce-260	300	18	anaesthesia	anaesthesia	PROPN
globalce-260	300	19	bsc	bsc	PROPN
globalce-260	300	20	project	project	NOUN
globalce-260	300	21	.	.	PUNCT
globalce-260	301	1	2008;1–46	2008;1–46	NUM
globalce-260	301	2	.	.	PUNCT
globalce-260	301	3	available	available	ADJ
globalce-260	301	4	online	online	ADV
globalce-260	301	5	:	:	PUNCT
globalce-260	301	6	https://members.loria.fr/	https://members.loria.fr/	NOUN
globalce-260	301	7	pfvillard	pfvillard	NOUN
globalce-260	301	8	/	/	SYM
globalce-260	301	9	files	file	NOUN
globalce-260	301	10	/	/	SYM
globalce-260	301	11	supervision	supervision	NOUN
globalce-260	301	12	/	/	SYM
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globalce-260	301	14	/	/	SYM
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globalce-260	301	16	.	.	NOUN
globalce-260	301	17	7	7	NUM
globalce-260	301	18	.	.	X
globalce-260	302	1	villard	villard	PROPN
globalce-260	302	2	,	,	PUNCT
globalce-260	302	3	p.	p.	NOUN
globalce-260	302	4	,	,	PUNCT
globalce-260	302	5	boshier	boshier	NOUN
globalce-260	302	6	,	,	PUNCT
globalce-260	302	7	p.	p.	PROPN
globalce-260	302	8	,	,	PUNCT
globalce-260	302	9	bello	bello	PROPN
globalce-260	302	10	,	,	PUNCT
globalce-260	302	11	f.	f.	PROPN
globalce-260	302	12	,	,	PUNCT
globalce-260	302	13	et	et	PROPN
globalce-260	302	14	al	al	PROPN
globalce-260	302	15	.	.	PROPN
globalce-260	302	16	virtual	virtual	ADJ
globalce-260	302	17	reality	reality	NOUN
globalce-260	302	18	simulation	simulation	NOUN
globalce-260	302	19	of	of	ADP
globalce-260	302	20	liver	liver	NOUN
globalce-260	302	21	biopsy	biopsy	NOUN
globalce-260	302	22	with	with	ADP
globalce-260	302	23	a	a	DET
globalce-260	302	24	respiratory	respiratory	ADJ
globalce-260	302	25	component	component	NOUN
globalce-260	302	26	.	.	PUNCT
globalce-260	303	1	in	in	ADP
globalce-260	303	2	:	:	PUNCT
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globalce-260	303	4	biopsy	biopsy	NOUN
globalce-260	303	5	,	,	PUNCT
globalce-260	303	6	h.	h.	PROPN
globalce-260	303	7	takahashi	takahashi	PROPN
globalce-260	303	8	,	,	PUNCT
globalce-260	303	9	(	(	PUNCT
globalce-260	303	10	eds	ed	NOUN
globalce-260	303	11	.	.	PUNCT
globalce-260	303	12	)	)	PUNCT
globalce-260	303	13	.	.	PUNCT
globalce-260	304	1	2009;315–334	2009;315–334	NUM
globalce-260	304	2	.	.	PUNCT
globalce-260	305	1	https://doi	https://doi	X
globalce-260	305	2	.	.	PUNCT
globalce-260	306	1	org/10.5772/22033	org/10.5772/22033	VERB
globalce-260	306	2	.	.	PUNCT
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globalce-260	307	2	.	.	PUNCT
globalce-260	308	1	lister	lister	PROPN
globalce-260	308	2	,	,	PUNCT
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globalce-260	308	4	,	,	PUNCT
globalce-260	308	5	gao	gao	PROPN
globalce-260	308	6	,	,	PUNCT
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globalce-260	308	8	,	,	PUNCT
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globalce-260	308	10	,	,	PUNCT
globalce-260	308	11	j.	j.	PROPN
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globalce-260	308	14	in	in	ADP
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globalce-260	308	17	models	model	NOUN
globalce-260	308	18	for	for	ADP
globalce-260	308	19	liver	liver	NOUN
globalce-260	308	20	:	:	PUNCT
globalce-260	308	21	application	application	NOUN
globalce-260	308	22	to	to	ADP
globalce-260	308	23	surgical	surgical	ADJ
globalce-260	308	24	simulation	simulation	NOUN
globalce-260	308	25	.	.	PUNCT
globalce-260	309	1	ann	ann	PROPN
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globalce-260	309	4	.	.	PUNCT
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globalce-260	310	2	.	.	PROPN
globalce-260	311	1	https://doi.org/	https://doi.org/	VERB
globalce-260	311	2	10.1007	10.1007	NUM
globalce-260	311	3	/	/	SYM
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globalce-260	311	5	-	-	PUNCT
globalce-260	311	6	010	010	NUM
globalce-260	311	7	-	-	PUNCT
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globalce-260	311	9	-	-	SYM
globalce-260	311	10	8	8	NUM
globalce-260	311	11	.	.	NOUN
globalce-260	311	12	9	9	NUM
globalce-260	311	13	.	.	X
globalce-260	311	14	maciel	maciel	PROPN
globalce-260	311	15	,	,	PUNCT
globalce-260	311	16	a.	a.	NOUN
globalce-260	311	17	and	and	CCONJ
globalce-260	311	18	de	de	PROPN
globalce-260	311	19	s.	s.	PROPN
globalce-260	311	20	physics	physics	PROPN
globalce-260	311	21	-	-	PUNCT
globalce-260	311	22	based	base	VERB
globalce-260	311	23	real	real	ADJ
globalce-260	311	24	time	time	NOUN
globalce-260	311	25	laparoscopic	laparoscopic	PROPN
globalce-260	311	26	electrosurgery	electrosurgery	NOUN
globalce-260	311	27	simulation	simulation	PROPN
globalce-260	311	28	.	.	PUNCT
globalce-260	312	1	stud	stud	PROPN
globalce-260	312	2	.	.	PUNCT
globalce-260	313	1	health	health	NOUN
globalce-260	313	2	technol	technol	NOUN
globalce-260	313	3	.	.	PUNCT
globalce-260	314	1	inform	inform	NOUN
globalce-260	314	2	.	.	PUNCT
globalce-260	315	1	2008;132:272–274	2008;132:272–274	NUM
globalce-260	315	2	,	,	PUNCT
globalce-260	315	3	available	available	ADJ
globalce-260	315	4	online	online	ADV
globalce-260	315	5	:	:	PUNCT
globalce-260	316	1	https://pubmed	https://pubmed	X
globalce-260	316	2	.	.	PUNCT
globalce-260	317	1	ncbi.nlm.nih.gov/18391303/.	ncbi.nlm.nih.gov/18391303/.	ADV
globalce-260	317	2	10	10	NUM
globalce-260	317	3	.	.	PUNCT
globalce-260	318	1	delingette	delingette	NOUN
globalce-260	318	2	,	,	PUNCT
globalce-260	318	3	h.	h.	PROPN
globalce-260	318	4	surgery	surgery	PROPN
globalce-260	318	5	simulation	simulation	NOUN
globalce-260	318	6	.	.	PUNCT
globalce-260	319	1	in	in	ADP
globalce-260	319	2	:	:	PUNCT
globalce-260	319	3	fourth	fourth	ADJ
globalce-260	319	4	ieee	ieee	PROPN
globalce-260	319	5	embs	emb	VERB
globalce-260	319	6	international	international	ADJ
globalce-260	319	7	summer	summer	NOUN
globalce-260	319	8	school	school	NOUN
globalce-260	319	9	on	on	ADP
globalce-260	319	10	biomedical	biomedical	ADJ
globalce-260	319	11	imaging	imaging	NOUN
globalce-260	319	12	,	,	PUNCT
globalce-260	319	13	berder	berder	NOUN
globalce-260	319	14	,	,	PUNCT
globalce-260	319	15	france	france	PROPN
globalce-260	319	16	,	,	PUNCT
globalce-260	319	17	ieee	ieee	NOUN
globalce-260	319	18	embs	emb	NOUN
globalce-260	319	19	.	.	PUNCT
globalce-260	320	1	2000;1–13	2000;1–13	NUM
globalce-260	320	2	,	,	PUNCT
globalce-260	320	3	available	available	ADJ
globalce-260	320	4	online	online	ADV
globalce-260	320	5	:	:	PUNCT
globalce-260	320	6	http://www-sop.inria.fr/asclepios	http://www-sop.inria.fr/asclepio	NOUN
globalce-260	320	7	/publications	/publication	NOUN
globalce-260	320	8	/	/	SYM
globalce-260	320	9	herve	herve	PROPN
globalce-260	320	10	.	.	PUNCT
globalce-260	320	11	delingette	delingette	PROPN
globalce-260	320	12	/	/	SYM
globalce-260	320	13	berder	berder	NOUN
globalce-260	320	14	-	-	PUNCT
globalce-260	320	15	delingette.pdf	delingette.pdf	NOUN
globalce-260	320	16	.	.	PUNCT
globalce-260	321	1	11	11	NUM
globalce-260	321	2	.	.	X
globalce-260	322	1	ayache	ayache	PROPN
globalce-260	322	2	,	,	PUNCT
globalce-260	322	3	d.	d.	PROPN
globalce-260	322	4	,	,	PUNCT
globalce-260	322	5	earally	earally	ADV
globalce-260	322	6	,	,	PUNCT
globalce-260	322	7	f.	f.	PROPN
globalce-260	322	8	,	,	PUNCT
globalce-260	322	9	elbaz	elbaz	PROPN
globalce-260	322	10	,	,	PUNCT
globalce-260	322	11	p.	p.	NOUN
globalce-260	322	12	characteristics	characteristic	NOUN
globalce-260	322	13	and	and	CCONJ
globalce-260	322	14	postoperative	postoperative	ADJ
globalce-260	322	15	course	course	NOUN
globalce-260	322	16	of	of	ADP
globalce-260	322	17	tinnitus	tinnitus	NOUN
globalce-260	322	18	.	.	PUNCT
globalce-260	323	1	oto	oto	PROPN
globalce-260	323	2	otol	otol	PROPN
globalce-260	323	3	neurotol	neurotol	PROPN
globalce-260	323	4	.	.	PUNCT
globalce-260	324	1	2003;24(1):48–51	2003;24(1):48–51	X
globalce-260	324	2	.	.	PUNCT
globalce-260	325	1	https://doi.org/10.1097/00129492-200301000-00011	https://doi.org/10.1097/00129492-200301000-00011	NOUN
globalce-260	325	2	.	.	PUNCT
globalce-260	326	1	12	12	NUM
globalce-260	326	2	.	.	PUNCT
globalce-260	326	3	hamza	hamza	PROPN
globalce-260	326	4	-	-	PUNCT
globalce-260	326	5	lup	lup	PROPN
globalce-260	326	6	,	,	PUNCT
globalce-260	326	7	f.	f.	PROPN
globalce-260	326	8	,	,	PUNCT
globalce-260	326	9	seitan	seitan	PROPN
globalce-260	326	10	,	,	PUNCT
globalce-260	326	11	a.	a.	NOUN
globalce-260	326	12	,	,	PUNCT
globalce-260	326	13	popovici	popovici	PROPN
globalce-260	326	14	,	,	PUNCT
globalce-260	326	15	d.	d.	PROPN
globalce-260	326	16	,	,	PUNCT
globalce-260	326	17	et	et	PROPN
globalce-260	326	18	al	al	PROPN
globalce-260	326	19	.	.	PROPN
globalce-260	326	20	medical	medical	ADJ
globalce-260	326	21	simulation	simulation	NOUN
globalce-260	326	22	and	and	CCONJ
globalce-260	326	23	training	training	NOUN
globalce-260	326	24	:	:	PUNCT
globalce-260	326	25	“	"	PUNCT
globalce-260	326	26	haptic	haptic	ADJ
globalce-260	326	27	”	"	PUNCT
globalce-260	326	28	liver	liver	NOUN
globalce-260	326	29	,	,	PUNCT
globalce-260	326	30	the	the	DET
globalce-260	326	31	7th	7th	ADJ
globalce-260	326	32	international	international	ADJ
globalce-260	326	33	conference	conference	NOUN
globalce-260	326	34	on	on	ADP
globalce-260	326	35	virtual	virtual	ADJ
globalce-260	326	36	learning	learning	NOUN
globalce-260	326	37	icvl	icvl	PROPN
globalce-260	326	38	2012	2012	NUM
globalce-260	326	39	.	.	PUNCT
globalce-260	327	1	2012;27–32	2012;27–32	X
globalce-260	327	2	.	.	PUNCT
globalce-260	328	1	available	available	ADJ
globalce-260	328	2	online	online	ADV
globalce-260	328	3	:	:	PUNCT
globalce-260	328	4	https://arxiv.org/ftp/arxiv/papers/1812/1812.03325.pdf	https://arxiv.org/ftp/arxiv/papers/1812/1812.03325.pdf	PROPN
globalce-260	328	5	.	.	PUNCT
globalce-260	329	1	13	13	NUM
globalce-260	329	2	.	.	X
globalce-260	330	1	lup	lup	PROPN
globalce-260	330	2	,	,	PUNCT
globalce-260	330	3	f.	f.	PROPN
globalce-260	330	4	,	,	PUNCT
globalce-260	330	5	seitan	seitan	PROPN
globalce-260	330	6	,	,	PUNCT
globalce-260	330	7	a.	a.	NOUN
globalce-260	330	8	,	,	PUNCT
globalce-260	330	9	popovici	popovici	PROPN
globalce-260	330	10	,	,	PUNCT
globalce-260	330	11	d.	d.	PROPN
globalce-260	330	12	,	,	PUNCT
globalce-260	330	13	et	et	PROPN
globalce-260	330	14	al	al	PROPN
globalce-260	330	15	.	.	PROPN
globalce-260	330	16	medical	medical	ADJ
globalce-260	330	17	simulation	simulation	NOUN
globalce-260	330	18	and	and	CCONJ
globalce-260	330	19	training	training	NOUN
globalce-260	330	20	:	:	PUNCT
globalce-260	330	21	“	"	PUNCT
globalce-260	330	22	haptic	haptic	ADJ
globalce-260	330	23	”	"	PUNCT
globalce-260	330	24	liver	liver	NOUN
globalce-260	330	25	,	,	PUNCT
globalce-260	330	26	in	in	ADP
globalce-260	330	27	:	:	PUNCT
globalce-260	330	28	proc	proc	NOUN
globalce-260	330	29	.	.	PUNCT
globalce-260	331	1	of	of	ADP
globalce-260	331	2	the	the	DET
globalce-260	331	3	7th	7th	ADJ
globalce-260	331	4	international	international	ADJ
globalce-260	331	5	conference	conference	NOUN
globalce-260	331	6	on	on	ADP
globalce-260	331	7	virtual	virtual	ADJ
globalce-260	331	8	learning	learning	NOUN
globalce-260	331	9	icvl	icvl	PROPN
globalce-260	331	10	2012	2012	NUM
globalce-260	331	11	,	,	PUNCT
globalce-260	331	12	preprint	preprint	VERB
globalce-260	331	13	december	december	PROPN
globalce-260	331	14	2018	2018	NUM
globalce-260	331	15	.	.	PUNCT
globalce-260	332	1	27–33	27–33	NUM
globalce-260	332	2	.	.	PUNCT
globalce-260	332	3	available	available	ADJ
globalce-260	332	4	online	online	ADV
globalce-260	332	5	:	:	PUNCT
globalce-260	333	1	https://www	https://www	PROPN
globalce-260	333	2	.	.	PUNCT
globalce-260	333	3	researchgate.net/publication/329569121_medical_simulation_and_training_haptic_liver	researchgate.net/publication/329569121_medical_simulation_and_training_haptic_liver	PUNCT
globalce-260	333	4	.	.	PUNCT
globalce-260	334	1	14	14	NUM
globalce-260	334	2	.	.	PUNCT
globalce-260	335	1	vidal	vidal	PROPN
globalce-260	335	2	,	,	PUNCT
globalce-260	335	3	f.	f.	PROPN
globalce-260	335	4	,	,	PUNCT
globalce-260	335	5	bello	bello	PROPN
globalce-260	335	6	,	,	PUNCT
globalce-260	335	7	k.	k.	PROPN
globalce-260	335	8	,	,	PUNCT
globalce-260	335	9	brodlie	brodlie	PROPN
globalce-260	335	10	,	,	PUNCT
globalce-260	335	11	n.	n.	NOUN
globalce-260	335	12	,	,	PUNCT
globalce-260	335	13	et	et	PROPN
globalce-260	335	14	al	al	PROPN
globalce-260	335	15	.	.	PUNCT
globalce-260	335	16	avis	avis	PROPN
globalce-260	335	17	/	/	SYM
globalce-260	335	18	principles	principle	NOUN
globalce-260	335	19	and	and	CCONJ
globalce-260	335	20	applications	application	NOUN
globalce-260	335	21	of	of	ADP
globalce-260	335	22	medical	medical	ADJ
globalce-260	335	23	virtual	virtual	ADJ
globalce-260	335	24	environments	environment	NOUN
globalce-260	335	25	.	.	PUNCT
globalce-260	336	1	in	in	ADP
globalce-260	336	2	:	:	PUNCT
globalce-260	336	3	proc	proc	NOUN
globalce-260	336	4	.	.	PROPN
globalce-260	336	5	of	of	ADP
globalce-260	336	6	eurographics	eurographic	NOUN
globalce-260	336	7	2004	2004	NUM
globalce-260	336	8	.	.	PUNCT
globalce-260	337	1	the	the	DET
globalce-260	337	2	eurographics	eurographics	PROPN
globalce-260	337	3	association	association	PROPN
globalce-260	337	4	.	.	PUNCT
globalce-260	338	1	2004;1–35	2004;1–35	NUM
globalce-260	338	2	.	.	PUNCT
globalce-260	338	3	available	available	ADJ
globalce-260	338	4	online	online	ADV
globalce-260	338	5	:	:	PUNCT
globalce-260	338	6	https://www.researchgate	https://www.researchgate	PROPN
globalce-260	338	7	.	.	PUNCT
globalce-260	339	1	net	net	ADJ
globalce-260	339	2	/	/	SYM
globalce-260	339	3	publication/241688442_principles_and_applications_of_medical_virtual_environments	publication/241688442_principles_and_applications_of_medical_virtual_environment	NOUN
globalce-260	339	4	.	.	PUNCT
globalce-260	340	1	15	15	NUM
globalce-260	340	2	.	.	X
globalce-260	340	3	satava	satava	PROPN
globalce-260	340	4	,	,	PUNCT
globalce-260	340	5	r.	r.	PROPN
globalce-260	340	6	virtual	virtual	ADJ
globalce-260	340	7	reality	reality	NOUN
globalce-260	340	8	surgical	surgical	ADJ
globalce-260	340	9	simulator	simulator	NOUN
globalce-260	340	10	.	.	PUNCT
globalce-260	341	1	surg	surg	PROPN
globalce-260	341	2	.	.	PUNCT
globalce-260	342	1	endosc	endosc	PROPN
globalce-260	342	2	.	.	PUNCT
globalce-260	343	1	1993;7(3):203–205	1993;7(3):203–205	X
globalce-260	343	2	.	.	PUNCT
globalce-260	344	1	https://doi.org/10.1007/bf00594110	https://doi.org/10.1007/bf00594110	PROPN
globalce-260	344	2	.	.	PROPN
globalce-260	345	1	16	16	NUM
globalce-260	345	2	.	.	PUNCT
globalce-260	345	3	satava	satava	PROPN
globalce-260	345	4	,	,	PUNCT
globalce-260	345	5	r.	r.	PROPN
globalce-260	345	6	emerging	emerge	VERB
globalce-260	345	7	medical	medical	ADJ
globalce-260	345	8	applications	application	NOUN
globalce-260	345	9	of	of	ADP
globalce-260	345	10	virtual	virtual	ADJ
globalce-260	345	11	reality	reality	NOUN
globalce-260	345	12	:	:	PUNCT
globalce-260	345	13	a	a	DET
globalce-260	345	14	surgeon	surgeon	NOUN
globalce-260	345	15	’s	’s	PART
globalce-260	345	16	perspective	perspective	NOUN
globalce-260	345	17	.	.	PUNCT
globalce-260	346	1	artif	artif	INTJ
globalce-260	346	2	.	.	PUNCT
globalce-260	347	1	intell	intell	PROPN
globalce-260	347	2	.	.	PUNCT
globalce-260	348	1	med	med	PROPN
globalce-260	348	2	.	.	PUNCT
globalce-260	349	1	1994;6(4):281–288	1994;6(4):281–288	X
globalce-260	349	2	.	.	PUNCT
globalce-260	349	3	https://doi.org/10.1016/0933-3657(94)90033-7	https://doi.org/10.1016/0933-3657(94)90033-7	PROPN
globalce-260	349	4	.	.	PUNCT
globalce-260	350	1	17	17	NUM
globalce-260	350	2	.	.	PUNCT
globalce-260	350	3	wynn	wynn	PROPN
globalce-260	350	4	,	,	PUNCT
globalce-260	350	5	g.	g.	PROPN
globalce-260	350	6	,	,	PUNCT
globalce-260	350	7	lykoudis	lykoudi	NOUN
globalce-260	350	8	,	,	PUNCT
globalce-260	350	9	p.	p.	NOUN
globalce-260	350	10	,	,	PUNCT
globalce-260	350	11	berlingieri	berlingieri	PROPN
globalce-260	350	12	,	,	PUNCT
globalce-260	350	13	p.	p.	NOUN
globalce-260	350	14	development	development	NOUN
globalce-260	350	15	and	and	CCONJ
globalce-260	350	16	implementation	implementation	NOUN
globalce-260	350	17	of	of	ADP
globalce-260	350	18	a	a	DET
globalce-260	350	19	virtual	virtual	ADJ
globalce-260	350	20	reality	reality	NOUN
globalce-260	350	21	laparoscopic	laparoscopic	NOUN
globalce-260	350	22	colorectal	colorectal	ADJ
globalce-260	350	23	training	training	NOUN
globalce-260	350	24	curriculum	curriculum	NOUN
globalce-260	350	25	.	.	PUNCT
globalce-260	351	1	am	be	AUX
globalce-260	351	2	j	j	PROPN
globalce-260	351	3	surg	surg	NOUN
globalce-260	351	4	.	.	PUNCT
globalce-260	352	1	2018;216(3):610–617	2018;216(3):610–617	NUM
globalce-260	352	2	.	.	PUNCT
globalce-260	353	1	https://doi.org/10.1016/j.amjsurg.2017.11.034	https://doi.org/10.1016/j.amjsurg.2017.11.034	NOUN
globalce-260	353	2	.	.	PUNCT
globalce-260	354	1	18	18	NUM
globalce-260	354	2	.	.	PUNCT
globalce-260	355	1	giannotti	giannotti	PROPN
globalce-260	355	2	,	,	PUNCT
globalce-260	355	3	d.	d.	PROPN
globalce-260	355	4	,	,	PUNCT
globalce-260	355	5	patrizi	patrizi	NOUN
globalce-260	355	6	,	,	PUNCT
globalce-260	355	7	g.	g.	PROPN
globalce-260	355	8	,	,	PUNCT
globalce-260	355	9	casella	casella	PROPN
globalce-260	355	10	,	,	PUNCT
globalce-260	355	11	g.	g.	PROPN
globalce-260	355	12	et	et	PROPN
globalce-260	355	13	al	al	PROPN
globalce-260	355	14	.	.	PROPN
globalce-260	356	1	can	can	AUX
globalce-260	356	2	virtual	virtual	ADJ
globalce-260	356	3	reality	reality	NOUN
globalce-260	356	4	simulators	simulator	NOUN
globalce-260	356	5	be	be	VERB
globalce-260	356	6	a	a	DET
globalce-260	356	7	certification	certification	NOUN
globalce-260	356	8	tool	tool	NOUN
globalce-260	356	9	for	for	ADP
globalce-260	356	10	bariatric	bariatric	ADJ
globalce-260	356	11	surgeons	surgeon	NOUN
globalce-260	356	12	?	?	PUNCT
globalce-260	357	1	surg	surg	NOUN
globalce-260	357	2	.	.	PUNCT
globalce-260	357	3	endosc	endosc	PROPN
globalce-260	357	4	.	.	PUNCT
globalce-260	358	1	2014;28(1):242–248	2014;28(1):242–248	X
globalce-260	358	2	.	.	PUNCT
globalce-260	359	1	https://doi.org/10.1007/	https://doi.org/10.1007/	PROPN
globalce-260	359	2	s00464	s00464	PROPN
globalce-260	359	3	-	-	PUNCT
globalce-260	359	4	013	013	NUM
globalce-260	359	5	-	-	PUNCT
globalce-260	359	6	3179	3179	NUM
globalce-260	359	7	-	-	PUNCT
globalce-260	359	8	x.	x.	NOUN
globalce-260	359	9	19	19	NUM
globalce-260	359	10	.	.	PUNCT
globalce-260	359	11	munz	munz	NOUN
globalce-260	359	12	,	,	PUNCT
globalce-260	359	13	y.	y.	PROPN
globalce-260	359	14	,	,	PUNCT
globalce-260	359	15	almoudaris	almoudaris	PROPN
globalce-260	359	16	,	,	PUNCT
globalce-260	359	17	a.m.	a.m.	ADV
globalce-260	359	18	,	,	PUNCT
globalce-260	359	19	moorthy	moorthy	PROPN
globalce-260	359	20	,	,	PUNCT
globalce-260	359	21	k.	k.	PROPN
globalce-260	359	22	,	,	PUNCT
globalce-260	359	23	et	et	PROPN
globalce-260	359	24	al	al	PROPN
globalce-260	359	25	.	.	PROPN
globalce-260	359	26	curriculum	curriculum	NOUN
globalce-260	359	27	-	-	PUNCT
globalce-260	359	28	based	base	VERB
globalce-260	359	29	solo	solo	ADJ
globalce-260	359	30	virtual	virtual	ADJ
globalce-260	359	31	reality	reality	NOUN
globalce-260	359	32	training	training	NOUN
globalce-260	359	33	for	for	ADP
globalce-260	359	34	laparoscopic	laparoscopic	NOUN
globalce-260	359	35	intracorporeal	intracorporeal	NOUN
globalce-260	359	36	knot	knot	NOUN
globalce-260	359	37	tying	tie	VERB
globalce-260	359	38	:	:	PUNCT
globalce-260	359	39	objective	objective	ADJ
globalce-260	359	40	assessment	assessment	NOUN
globalce-260	359	41	of	of	ADP
globalce-260	359	42	the	the	DET
globalce-260	359	43	transfer	transfer	NOUN
globalce-260	359	44	of	of	ADP
globalce-260	359	45	skill	skill	NOUN
globalce-260	359	46	from	from	ADP
globalce-260	359	47	virtual	virtual	ADJ
globalce-260	359	48	reality	reality	NOUN
globalce-260	359	49	to	to	ADP
globalce-260	359	50	reality	reality	NOUN
globalce-260	359	51	.	.	PUNCT
globalce-260	360	1	am	be	AUX
globalce-260	360	2	j	j	PROPN
globalce-260	360	3	surg	surg	NOUN
globalce-260	360	4	.	.	PUNCT
globalce-260	361	1	2007;193(6):774–783	2007;193(6):774–783	X
globalce-260	361	2	.	.	PUNCT
globalce-260	362	1	https://doi.org/10.1016/j.amjsurg.2007.01.022	https://doi.org/10.1016/j.amjsurg.2007.01.022	PROPN
globalce-260	362	2	.	.	PUNCT
globalce-260	363	1	20	20	NUM
globalce-260	363	2	.	.	PUNCT
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globalce-260	364	5	.	.	PUNCT
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globalce-260	365	2	®	®	PROPN
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globalce-260	365	5	.	.	PUNCT
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globalce-260	366	2	.	.	PUNCT
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globalce-260	367	2	online	online	ADV
globalce-260	367	3	:	:	PUNCT
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globalce-260	367	5	.	.	PUNCT
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globalce-260	367	7	/	/	SYM
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globalce-260	367	9	/	/	SYM
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globalce-260	367	12	.	.	PUNCT
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globalce-260	368	3	|	|	ADV
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globalce-260	368	5	.	.	PUNCT
globalce-260	369	1	2022	2022	NUM
globalce-260	369	2	;	;	PUNCT
globalce-260	369	3	available	available	ADJ
globalce-260	369	4	online	online	ADV
globalce-260	369	5	:	:	PUNCT
globalce-260	370	1	https://	https://	PROPN
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globalce-260	370	4	.	.	PUNCT
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globalce-260	371	4	,	,	PUNCT
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globalce-260	371	8	,	,	PUNCT
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globalce-260	371	13	and	and	CCONJ
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globalce-260	371	16	a	a	DET
globalce-260	371	17	virtual	virtual	ADJ
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globalce-260	371	21	training	training	NOUN
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globalce-260	371	23	.	.	PUNCT
globalce-260	372	1	am	be	AUX
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globalce-260	372	4	.	.	PUNCT
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globalce-260	373	2	.	.	PUNCT
globalce-260	374	1	https://doi.org/10.1016/j.amjsurg.2017.11.034	https://doi.org/10.1016/j.amjsurg.2017.11.034	NOUN
globalce-260	374	2	.	.	PUNCT
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globalce-260	375	2	.	.	PUNCT
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globalce-260	376	9	,	,	PUNCT
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globalce-260	376	13	,	,	PUNCT
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globalce-260	376	19	,	,	PUNCT
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globalce-260	376	21	reality	reality	NOUN
globalce-260	376	22	and	and	CCONJ
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globalce-260	376	25	in	in	ADP
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globalce-260	376	29	a	a	DET
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globalce-260	377	5	.	.	PUNCT
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globalce-260	378	2	.	.	PUNCT
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globalce-260	379	2	.	.	X
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globalce-260	380	8	,	,	PUNCT
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globalce-260	380	13	et	et	PROPN
globalce-260	380	14	al	al	PROPN
globalce-260	380	15	.	.	PROPN
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globalce-260	380	22	.	.	PUNCT
globalce-260	381	1	stud	stud	PROPN
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globalce-260	381	5	.	.	PUNCT
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globalce-260	382	2	.	.	PUNCT
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globalce-260	382	4	online	online	ADV
globalce-260	382	5	:	:	PUNCT
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globalce-260	382	7	.	.	PUNCT
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globalce-260	383	2	.	.	X
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globalce-260	384	4	,	,	PUNCT
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globalce-260	385	12	.	.	PUNCT
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globalce-260	386	3	.	.	PUNCT
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globalce-260	388	1	available	available	PROPN
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globalce-260	390	6	/	/	SYM
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globalce-260	390	10	-	-	PUNCT
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globalce-260	390	12	-	-	SYM
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globalce-260	390	16	/	/	SYM
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globalce-260	390	19	010	010	NUM
globalce-260	390	20	-	-	PUNCT
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globalce-260	390	22	-	-	SYM
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globalce-260	390	45	https://www.researchgate.net/publication/329569121_medical_simulation_and_training_haptic_liver	https://www.researchgate.net/publication/329569121_medical_simulation_and_training_haptic_liver	PROPN
globalce-260	390	46	https://www.researchgate.net/publication/329569121_medical_simulation_and_training_haptic_liver	https://www.researchgate.net/publication/329569121_medical_simulation_and_training_haptic_liver	PROPN
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globalce-260	390	48	https://www.researchgate.net/publication/241688442_principles_and_applications_of_medical_virtual_environments	https://www.researchgate.net/publication/241688442_principles_and_applications_of_medical_virtual_environment	VERB
globalce-260	390	49	https://www.researchgate.net/publication/241688442_principles_and_applications_of_medical_virtual_environments	https://www.researchgate.net/publication/241688442_principles_and_applications_of_medical_virtual_environment	NOUN
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globalce-260	390	57	https://surgicalscience.com/simulators/lapsim/	https://surgicalscience.com/simulators/lapsim/	PROPN
globalce-260	391	1	https://simbionix.com/simulators/lap-mentor/	https://simbionix.com/simulators/lap-mentor/	PROPN
globalce-260	392	1	https://simbionix.com/simulators/lap-mentor/	https://simbionix.com/simulators/lap-mentor/	PROPN
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globalce-260	392	14	:	:	SYM
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globalce-260	392	19	,	,	PUNCT
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globalce-260	392	21	:	:	PUNCT
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globalce-260	392	25	skills	skill	NOUN
globalce-260	392	26	by	by	ADP
globalce-260	392	27	a	a	DET
globalce-260	392	28	3d	3d	NUM
globalce-260	392	29	augmented	augment	VERB
globalce-260	392	30	liver	liver	NOUN
globalce-260	392	31	model	model	NOUN
globalce-260	392	32	response	response	NOUN
globalce-260	392	33	during	during	ADP
globalce-260	392	34	instrument	instrument	NOUN
globalce-260	392	35	interactions	interaction	NOUN
globalce-260	392	36	simulation	simulation	NOUN
globalce-260	392	37	35	35	NUM
globalce-260	392	38	.	.	PUNCT
globalce-260	393	1	shi	shi	PROPN
globalce-260	393	2	,	,	PUNCT
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globalce-260	393	8	simulation	simulation	NOUN
globalce-260	393	9	in	in	ADP
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globalce-260	393	11	training	training	NOUN
globalce-260	393	12	environment	environment	NOUN
globalce-260	393	13	,	,	PUNCT
globalce-260	393	14	shandong	shandong	PROPN
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globalce-260	394	3	,	,	PUNCT
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globalce-260	394	5	.	.	PUNCT
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globalce-260	394	7	online	online	ADV
globalce-260	394	8	:	:	PUNCT
globalce-260	394	9	https://core	https://core	X
globalce-260	394	10	.	.	PUNCT
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globalce-260	395	2	.	.	PUNCT
globalce-260	396	1	36	36	NUM
globalce-260	396	2	.	.	PUNCT
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globalce-260	397	2	,	,	PUNCT
globalce-260	397	3	m.	m.	NOUN
globalce-260	397	4	,	,	PUNCT
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globalce-260	397	6	.	.	PUNCT
globalce-260	398	1	r.v	r.v	PROPN
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globalce-260	398	3	,	,	PUNCT
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globalce-260	398	5	,	,	PUNCT
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globalce-260	398	10	in	in	ADP
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globalce-260	398	12	presence	presence	NOUN
globalce-260	398	13	of	of	ADP
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globalce-260	398	15	feedback	feedback	NOUN
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globalce-260	398	19	.	.	PUNCT
globalce-260	399	1	in	in	ADP
globalce-260	399	2	:	:	PUNCT
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globalce-260	399	4	.	.	PUNCT
globalce-260	400	1	of	of	ADP
globalce-260	400	2	the	the	DET
globalce-260	400	3	2005	2005	NUM
globalce-260	400	4	ieee	ieee	NOUN
globalce-260	400	5	conference	conference	NOUN
globalce-260	400	6	on	on	ADP
globalce-260	400	7	control	control	NOUN
globalce-260	400	8	applications	application	NOUN
globalce-260	400	9	.	.	PUNCT
globalce-260	401	1	toronto	toronto	PROPN
globalce-260	401	2	,	,	PUNCT
globalce-260	401	3	canada	canada	PROPN
globalce-260	401	4	,	,	PUNCT
globalce-260	401	5	august	august	PROPN
globalce-260	401	6	28–31	28–31	NUM
globalce-260	401	7	.	.	PUNCT
globalce-260	401	8	2005	2005	NUM
globalce-260	401	9	:	:	PUNCT
globalce-260	402	1	1–6	1–6	X
globalce-260	402	2	.	.	PUNCT
globalce-260	403	1	https://	https://	PROPN
globalce-260	403	2	doi.org/10.1109/cca.2005.1507091	doi.org/10.1109/cca.2005.1507091	PROPN
globalce-260	403	3	.	.	PUNCT
globalce-260	404	1	37	37	NUM
globalce-260	404	2	.	.	PUNCT
globalce-260	405	1	peirs	peirs	PROPN
globalce-260	405	2	,	,	PUNCT
globalce-260	405	3	j.	j.	PROPN
globalce-260	405	4	,	,	PUNCT
globalce-260	405	5	clijnen	clijnen	PROPN
globalce-260	405	6	,	,	PUNCT
globalce-260	405	7	d.	d.	PROPN
globalce-260	405	8	,	,	PUNCT
globalce-260	405	9	reynaerts	reynaert	NOUN
globalce-260	405	10	,	,	PUNCT
globalce-260	405	11	h.	h.	PROPN
globalce-260	405	12	,	,	PUNCT
globalce-260	405	13	et	et	PROPN
globalce-260	405	14	.	.	PUNCT
globalce-260	406	1	al	al	PROPN
globalce-260	406	2	.	.	PUNCT
globalce-260	407	1	a	a	DET
globalce-260	407	2	micro	micro	ADJ
globalce-260	407	3	optical	optical	ADJ
globalce-260	407	4	force	force	NOUN
globalce-260	407	5	sensor	sensor	NOUN
globalce-260	407	6	for	for	ADP
globalce-260	407	7	force	force	NOUN
globalce-260	407	8	feedback	feedback	NOUN
globalce-260	407	9	during	during	ADP
globalce-260	407	10	minimally	minimally	ADV
globalce-260	407	11	invasive	invasive	ADJ
globalce-260	407	12	robotic	robotic	ADJ
globalce-260	407	13	surgery	surgery	NOUN
globalce-260	407	14	.	.	PUNCT
globalce-260	408	1	sensor	sensor	NOUN
globalce-260	408	2	actuat	actuat	VERB
globalce-260	408	3	a	a	DET
globalce-260	408	4	-	-	PUNCT
globalce-260	408	5	phys	phy	NOUN
globalce-260	408	6	.	.	PUNCT
globalce-260	409	1	2004;115(2–3	2004;115(2–3	NUM
globalce-260	409	2	)	)	PUNCT
globalce-260	409	3	447–455	447–455	NUM
globalce-260	409	4	.	.	PUNCT
globalce-260	410	1	https://doi.org/10.1016/j.sna.2004.04.057	https://doi.org/10.1016/j.sna.2004.04.057	NOUN
globalce-260	410	2	.	.	PUNCT
globalce-260	411	1	38	38	NUM
globalce-260	411	2	.	.	PUNCT
globalce-260	412	1	gupta	gupta	PROPN
globalce-260	412	2	,	,	PUNCT
globalce-260	412	3	v.	v.	PROPN
globalce-260	412	4	,	,	PUNCT
globalce-260	412	5	reddy	reddy	PROPN
globalce-260	412	6	,	,	PUNCT
globalce-260	412	7	n.p	n.p	PROPN
globalce-260	412	8	,	,	PUNCT
globalce-260	412	9	batur	batur	NOUN
globalce-260	412	10	,	,	PUNCT
globalce-260	412	11	p.	p.	NOUN
globalce-260	412	12	forces	force	NOUN
globalce-260	412	13	in	in	ADP
globalce-260	412	14	surgical	surgical	ADJ
globalce-260	412	15	tools	tool	NOUN
globalce-260	412	16	:	:	PUNCT
globalce-260	412	17	comparison	comparison	NOUN
globalce-260	412	18	between	between	ADP
globalce-260	412	19	laparoscopic	laparoscopic	NOUN
globalce-260	412	20	and	and	CCONJ
globalce-260	412	21	surgical	surgical	ADJ
globalce-260	412	22	forceps	forceps	NOUN
globalce-260	412	23	.	.	PUNCT
globalce-260	413	1	in	in	ADP
globalce-260	413	2	:	:	PUNCT
globalce-260	413	3	proc	proc	NOUN
globalce-260	413	4	.	.	PUNCT
globalce-260	414	1	of	of	ADP
globalce-260	414	2	18th	18th	ADJ
globalce-260	414	3	annual	annual	ADJ
globalce-260	414	4	international	international	ADJ
globalce-260	414	5	conference	conference	NOUN
globalce-260	414	6	of	of	ADP
globalce-260	414	7	the	the	DET
globalce-260	414	8	ieee	ieee	NOUN
globalce-260	414	9	engineering	engineering	NOUN
globalce-260	414	10	in	in	ADP
globalce-260	414	11	medicine	medicine	NOUN
globalce-260	414	12	and	and	CCONJ
globalce-260	414	13	biology	biology	NOUN
globalce-260	414	14	society	society	NOUN
globalce-260	414	15	,	,	PUNCT
globalce-260	414	16	amsterdam	amsterdam	PROPN
globalce-260	414	17	,	,	PUNCT
globalce-260	414	18	netherlands	netherlands	PROPN
globalce-260	414	19	,	,	PUNCT
globalce-260	414	20	1996	1996	NUM
globalce-260	414	21	;	;	PUNCT
globalce-260	414	22	ieee	ieee	PROPN
globalce-260	414	23	xplore	xplore	PROPN
globalce-260	414	24	.	.	PUNCT
globalce-260	415	1	2002;223–224	2002;223–224	NUM
globalce-260	415	2	.	.	PUNCT
globalce-260	416	1	https://	https://	PROPN
globalce-260	416	2	doi.org/10.1109/iembs.1996.656926	doi.org/10.1109/iembs.1996.656926	PROPN
globalce-260	416	3	.	.	PROPN
globalce-260	417	1	39	39	NUM
globalce-260	417	2	.	.	PUNCT
globalce-260	418	1	dobbelsteen	dobbelsteen	PROPN
globalce-260	418	2	,	,	PUNCT
globalce-260	418	3	j.j	j.j	PROPN
globalce-260	418	4	.	.	PROPN
globalce-260	418	5	van	van	PROPN
globalce-260	418	6	den	den	PROPN
globalce-260	418	7	,	,	PUNCT
globalce-260	418	8	schooleman	schooleman	NOUN
globalce-260	418	9	,	,	PUNCT
globalce-260	418	10	a.	a.	NOUN
globalce-260	418	11	,	,	PUNCT
globalce-260	418	12	dankelman	dankelman	NOUN
globalce-260	418	13	,	,	PUNCT
globalce-260	418	14	j.	j.	PROPN
globalce-260	418	15	friction	friction	PROPN
globalce-260	418	16	dynamics	dynamic	NOUN
globalce-260	418	17	of	of	ADP
globalce-260	418	18	trocars	trocar	NOUN
globalce-260	418	19	.	.	PUNCT
globalce-260	419	1	surg	surg	NOUN
globalce-260	419	2	endosc	endosc	PROPN
globalce-260	419	3	.	.	PUNCT
globalce-260	420	1	2007;21(8):1338–1343	2007;21(8):1338–1343	PROPN
globalce-260	420	2	.	.	PUNCT
globalce-260	421	1	https://doi.org/10.1007/s00464-006-9105-8	https://doi.org/10.1007/s00464-006-9105-8	PROPN
globalce-260	421	2	.	.	PUNCT
globalce-260	422	1	40	40	NUM
globalce-260	422	2	.	.	PUNCT
globalce-260	423	1	picod	picod	NOUN
globalce-260	423	2	,	,	PUNCT
globalce-260	423	3	g.	g.	PROPN
globalce-260	423	4	,	,	PUNCT
globalce-260	423	5	jambon	jambon	PROPN
globalce-260	423	6	,	,	PUNCT
globalce-260	423	7	a.c	a.c	PROPN
globalce-260	423	8	,	,	PUNCT
globalce-260	423	9	vinatier	vinatier	NOUN
globalce-260	423	10	,	,	PUNCT
globalce-260	423	11	d	d	PROPN
globalce-260	423	12	,	,	PUNCT
globalce-260	423	13	dubois	dubois	PROPN
globalce-260	423	14	,	,	PUNCT
globalce-260	423	15	p.	p.	NOUN
globalce-260	424	1	what	what	PRON
globalce-260	424	2	can	can	AUX
globalce-260	424	3	the	the	DET
globalce-260	424	4	operator	operator	NOUN
globalce-260	424	5	actually	actually	ADV
globalce-260	424	6	feel	feel	VERB
globalce-260	424	7	when	when	SCONJ
globalce-260	424	8	performing	perform	VERB
globalce-260	424	9	a	a	DET
globalce-260	424	10	laparoscopy	laparoscopy	NOUN
globalce-260	424	11	?	?	PUNCT
globalce-260	425	1	surg	surg	NOUN
globalce-260	425	2	endosc	endosc	PROPN
globalce-260	425	3	.	.	PUNCT
globalce-260	426	1	2005;19(1):95–100	2005;19(1):95–100	NUM
globalce-260	426	2	.	.	PUNCT
globalce-260	426	3	https://doi.org/	https://doi.org/	VERB
globalce-260	426	4	10.1007/	10.1007/	NUM
globalce-260	426	5	s00464	s00464	PROPN
globalce-260	426	6	-	-	PUNCT
globalce-260	426	7	003	003	NUM
globalce-260	426	8	-	-	PUNCT
globalce-260	426	9	9330	9330	NUM
globalce-260	426	10	-	-	PUNCT
globalce-260	426	11	3	3	NUM
globalce-260	426	12	.	.	NOUN
globalce-260	426	13	41	41	NUM
globalce-260	426	14	.	.	PUNCT
globalce-260	426	15	sjoerdsma	sjoerdsma	PROPN
globalce-260	426	16	,	,	PUNCT
globalce-260	426	17	w.	w.	PROPN
globalce-260	426	18	,	,	PUNCT
globalce-260	426	19	herder	herder	NOUN
globalce-260	426	20	,	,	PUNCT
globalce-260	426	21	j.l	j.l	PROPN
globalce-260	426	22	.	.	PROPN
globalce-260	426	23	,	,	PUNCT
globalce-260	426	24	horward	horward	PROPN
globalce-260	426	25	,	,	PUNCT
globalce-260	426	26	m.j	m.j	PROPN
globalce-260	426	27	.	.	PROPN
globalce-260	426	28	et	et	PROPN
globalce-260	426	29	.	.	PUNCT
globalce-260	427	1	al	al	PROPN
globalce-260	427	2	.	.	PUNCT
globalce-260	427	3	force	force	PROPN
globalce-260	427	4	transmission	transmission	NOUN
globalce-260	427	5	of	of	ADP
globalce-260	427	6	laparoscopic	laparoscopic	NOUN
globalce-260	427	7	grasping	grasp	VERB
globalce-260	427	8	instruments	instrument	NOUN
globalce-260	427	9	.	.	PUNCT
globalce-260	428	1	minim	minim	PROPN
globalce-260	428	2	.	.	PUNCT
globalce-260	428	3	invas	invas	PROPN
globalce-260	428	4	.	.	PUNCT
globalce-260	429	1	ther	ther	PROPN
globalce-260	429	2	.	.	PUNCT
globalce-260	430	1	allied	ally	VERB
globalce-260	430	2	technol	technol	NOUN
globalce-260	430	3	.	.	PUNCT
globalce-260	431	1	1997;6(4):274–278	1997;6(4):274–278	NUM
globalce-260	431	2	.	.	PROPN
globalce-260	431	3	https://doi.org/	https://doi.org/	PROPN
globalce-260	431	4	10.3109/13645709709153075	10.3109/13645709709153075	NUM
globalce-260	431	5	.	.	PUNCT
globalce-260	432	1	42	42	NUM
globalce-260	432	2	.	.	PUNCT
globalce-260	433	1	zeitcontrol	zeitcontrol	PROPN
globalce-260	433	2	cardsystems	cardsystems	PROPN
globalce-260	433	3	gmbh	gmbh	PROPN
globalce-260	433	4	.	.	PUNCT
globalce-260	434	1	available	available	ADJ
globalce-260	434	2	online	online	ADV
globalce-260	434	3	:	:	PUNCT
globalce-260	435	1	https://	https://	PROPN
globalce-260	435	2	www.zeitcontrol.de/basiccard_3	www.zeitcontrol.de/basiccard_3	PROPN
globalce-260	435	3	.	.	PROPN
globalce-260	436	1	43	43	NUM
globalce-260	436	2	.	.	PUNCT
globalce-260	437	1	abdul	abdul	PROPN
globalce-260	437	2	-	-	PUNCT
globalce-260	437	3	jabbar	jabbar	PROPN
globalce-260	437	4	,	,	PUNCT
globalce-260	437	5	s.s	s.s	PROPN
globalce-260	437	6	.	.	PROPN
globalce-260	437	7	and	and	CCONJ
globalce-260	437	8	farhan	farhan	PROPN
globalce-260	437	9	,	,	PUNCT
globalce-260	437	10	a.k	a.k	PROPN
globalce-260	437	11	.	.	PROPN
globalce-260	437	12	secure	secure	ADJ
globalce-260	437	13	qr	qr	PROPN
globalce-260	437	14	-	-	PUNCT
globalce-260	437	15	code	code	NOUN
globalce-260	437	16	generation	generation	NOUN
globalce-260	437	17	in	in	ADP
globalce-260	437	18	healthcare	healthcare	PROPN
globalce-260	437	19	.	.	PUNCT
globalce-260	438	1	kijoms	kijom	NOUN
globalce-260	438	2	.	.	PUNCT
globalce-260	439	1	2023;9(2):307–315	2023;9(2):307–315	X
globalce-260	439	2	.	.	PUNCT
globalce-260	440	1	https://doi	https://doi	X
globalce-260	440	2	.	.	PUNCT
globalce-260	441	1	org/	org/	PROPN
globalce-260	441	2	https://doi.org/10.33640/2405-609x.3294	https://doi.org/10.33640/2405-609x.3294	PROPN
globalce-260	441	3	.	.	PUNCT
globalce-260	442	1	44	44	NUM
globalce-260	442	2	.	.	PUNCT
globalce-260	443	1	el	el	ADJ
globalce-260	443	2	-	-	PUNCT
globalce-260	443	3	moneim	moneim	PROPN
globalce-260	443	4	kabel	kabel	NOUN
globalce-260	443	5	,	,	PUNCT
globalce-260	443	6	s.a	s.a	PROPN
globalce-260	443	7	.	.	PROPN
globalce-260	443	8	,	,	PUNCT
globalce-260	443	9	el	el	PROPN
globalce-260	443	10	-	-	PUNCT
globalce-260	443	11	banby	banby	PROPN
globalce-260	443	12	,	,	PUNCT
globalce-260	443	13	g.m	g.m	PROPN
globalce-260	443	14	.	.	PROPN
globalce-260	443	15	,	,	PUNCT
globalce-260	443	16	abou	abou	PROPN
globalce-260	443	17	elazm	elazm	PROPN
globalce-260	443	18	,	,	PUNCT
globalce-260	443	19	l.a	l.a	PROPN
globalce-260	443	20	.	.	PROPN
globalce-260	443	21	,	,	PUNCT
globalce-260	443	22	et	et	PROPN
globalce-260	443	23	al	al	PROPN
globalce-260	443	24	.	.	PUNCT
globalce-260	444	1	securing	secure	VERB
globalce-260	444	2	internet	internet	NOUN
globalce-260	444	3	-	-	PUNCT
globalce-260	444	4	of	of	ADP
globalce-260	444	5	-	-	PUNCT
globalce-260	444	6	medical	medical	ADJ
globalce-260	444	7	-	-	PUNCT
globalce-260	444	8	things	thing	NOUN
globalce-260	444	9	networks	network	NOUN
globalce-260	444	10	using	use	VERB
globalce-260	444	11	cancellable	cancellable	ADJ
globalce-260	444	12	ecg	ecg	PROPN
globalce-260	444	13	recognition	recognition	NOUN
globalce-260	444	14	.	.	PUNCT
globalce-260	445	1	sci	sci	PROPN
globalce-260	445	2	rep	rep	PROPN
globalce-260	445	3	.	.	PROPN
globalce-260	445	4	2024;14(1):1–16	2024;14(1):1–16	X
globalce-260	445	5	.	.	PUNCT
globalce-260	445	6	https://doi.org/10.1038/s41598-024-54830-2	https://doi.org/10.1038/s41598-024-54830-2	PROPN
globalce-260	445	7	.	.	PUNCT
globalce-260	446	1	45	45	NUM
globalce-260	446	2	.	.	PUNCT
globalce-260	447	1	dallas	dallas	PROPN
globalce-260	447	2	semiconductor	semiconductor	NOUN
globalce-260	447	3	/	/	SYM
globalce-260	447	4	maxim	maxim	NOUN
globalce-260	447	5	.	.	PUNCT
globalce-260	448	1	ds9490r	ds9490r	X
globalce-260	448	2	/	/	SYM
globalce-260	448	3	ds9490b	ds9490b	NUM
globalce-260	448	4	:	:	PUNCT
globalce-260	448	5	usb	usb	NOUN
globalce-260	448	6	to	to	ADP
globalce-260	448	7	1	1	NUM
globalce-260	448	8	-	-	PUNCT
globalce-260	448	9	wire	wire	NOUN
globalce-260	448	10	/	/	SYM
globalce-260	448	11	ibutton	ibutton	PROPN
globalce-260	448	12	adapter	adapter	NOUN
globalce-260	448	13	.	.	PUNCT
globalce-260	449	1	available	available	ADJ
globalce-260	449	2	online	online	ADV
globalce-260	450	1	:	:	PUNCT
globalce-260	450	2	https://pdf1	https://pdf1	X
globalce-260	450	3	.	.	NOUN
globalce-260	450	4	alldatasheet.com/datasheet-pdf/view/100776/dallas/	alldatasheet.com/datasheet-pdf/view/100776/dallas/	NUM
globalce-260	450	5	ds9490r.html	ds9490r.html	NOUN
globalce-260	450	6	.	.	PUNCT
globalce-260	451	1	46	46	NUM
globalce-260	451	2	.	.	PUNCT
globalce-260	452	1	unity	unity	NOUN
globalce-260	452	2	technologies	technology	NOUN
globalce-260	452	3	,	,	PUNCT
globalce-260	452	4	scripting	scripting	NOUN
globalce-260	452	5	api	api	NOUN
globalce-260	452	6	,	,	PUNCT
globalce-260	452	7	available	available	ADJ
globalce-260	452	8	online	online	ADV
globalce-260	452	9	:	:	PUNCT
globalce-260	452	10	https://	https://	PROPN
globalce-260	452	11	docs.unity3d.com/scriptreference/physics.html	docs.unity3d.com/scriptreference/physics.html	PROPN
globalce-260	452	12	.	.	PROPN
globalce-260	453	1	26	26	NUM
globalce-260	453	2	.	.	PUNCT
globalce-260	454	1	ackerman	ackerman	PROPN
globalce-260	454	2	,	,	PUNCT
globalce-260	454	3	j.	j.	PROPN
globalce-260	454	4	unc	unc	PROPN
globalce-260	454	5	ultrasound	ultrasound	PROPN
globalce-260	454	6	/	/	SYM
globalce-260	454	7	medical	medical	ADJ
globalce-260	454	8	augmented	augment	VERB
globalce-260	454	9	reality	reality	NOUN
globalce-260	454	10	research	research	NOUN
globalce-260	454	11	.	.	PUNCT
globalce-260	455	1	last	last	ADJ
globalce-260	455	2	modified	modify	VERB
globalce-260	455	3	june	june	PROPN
globalce-260	455	4	15	15	NUM
globalce-260	455	5	,	,	PUNCT
globalce-260	455	6	2000	2000	NUM
globalce-260	455	7	.	.	PUNCT
globalce-260	456	1	available	available	ADJ
globalce-260	456	2	online	online	ADV
globalce-260	456	3	at	at	ADP
globalce-260	456	4	:	:	PUNCT
globalce-260	456	5	https://www.cs.unc.edu/research/us/.	https://www.cs.unc.edu/research/us/.	NOUN
globalce-260	456	6	27	27	NUM
globalce-260	456	7	.	.	PUNCT
globalce-260	457	1	bajura	bajura	ADJ
globalce-260	457	2	,	,	PUNCT
globalce-260	457	3	m.	m.	NOUN
globalce-260	457	4	,	,	PUNCT
globalce-260	457	5	fuchs	fuchs	PROPN
globalce-260	457	6	,	,	PUNCT
globalce-260	457	7	h.	h.	PROPN
globalce-260	457	8	,	,	PUNCT
globalce-260	457	9	ohbuchi	ohbuchi	PROPN
globalce-260	457	10	,	,	PUNCT
globalce-260	457	11	r.	r.	PROPN
globalce-260	457	12	merging	merge	VERB
globalce-260	457	13	virtual	virtual	ADJ
globalce-260	457	14	objects	object	NOUN
globalce-260	457	15	with	with	ADP
globalce-260	457	16	the	the	DET
globalce-260	457	17	real	real	ADJ
globalce-260	457	18	world	world	NOUN
globalce-260	457	19	:	:	PUNCT
globalce-260	457	20	seeing	see	VERB
globalce-260	457	21	ultrasound	ultrasound	NOUN
globalce-260	457	22	imagery	imagery	NOUN
globalce-260	457	23	within	within	ADP
globalce-260	457	24	the	the	DET
globalce-260	457	25	patient	patient	NOUN
globalce-260	457	26	.	.	PUNCT
globalce-260	458	1	cg	cg	NOUN
globalce-260	458	2	.	.	PUNCT
globalce-260	459	1	1992;26(2):203–210	1992;26(2):203–210	X
globalce-260	459	2	.	.	PUNCT
globalce-260	459	3	available	available	ADJ
globalce-260	459	4	online	online	ADV
globalce-260	459	5	:	:	PUNCT
globalce-260	459	6	https://	https://	PROPN
globalce-260	459	7	citeseerx.ist.psu.edu/document?repid=rep1&type=pdf	citeseerx.ist.psu.edu/document?repid=rep1&type=pdf	PROPN
globalce-260	459	8	&	&	CCONJ
globalce-260	459	9	doi	doi	PROPN
globalce-260	459	10	=	=	NOUN
globalce-260	459	11	baa071b6b1c80a980d328b423e34af27951bd180	baa071b6b1c80a980d328b423e34af27951bd180	NOUN
globalce-260	459	12	.	.	PUNCT
globalce-260	460	1	28	28	NUM
globalce-260	460	2	.	.	PUNCT
globalce-260	461	1	khan	khan	PROPN
globalce-260	461	2	,	,	PUNCT
globalce-260	461	3	m.f	m.f	PROPN
globalce-260	461	4	,	,	PUNCT
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globalce-260	461	6	,	,	PUNCT
globalce-260	461	7	s.	s.	PROPN
globalce-260	461	8	,	,	PUNCT
globalce-260	461	9	maataoui	maataoui	NOUN
globalce-260	461	10	,	,	PUNCT
globalce-260	461	11	a.	a.	PROPN
globalce-260	461	12	et	et	PROPN
globalce-260	461	13	al	al	PROPN
globalce-260	461	14	.	.	PROPN
globalce-260	461	15	accuracy	accuracy	NOUN
globalce-260	461	16	of	of	ADP
globalce-260	461	17	biopsy	biopsy	NOUN
globalce-260	461	18	needle	needle	NOUN
globalce-260	461	19	navigation	navigation	NOUN
globalce-260	461	20	using	use	VERB
globalce-260	461	21	the	the	DET
globalce-260	461	22	medarpa	medarpa	NOUN
globalce-260	461	23	system	system	NOUN
globalce-260	461	24	—	—	PUNCT
globalce-260	461	25	computed	compute	VERB
globalce-260	461	26	tomography	tomography	NOUN
globalce-260	461	27	reality	reality	NOUN
globalce-260	461	28	superimposed	superimpose	VERB
globalce-260	461	29	on	on	ADP
globalce-260	461	30	the	the	DET
globalce-260	461	31	site	site	NOUN
globalce-260	461	32	of	of	ADP
globalce-260	461	33	intervention	intervention	NOUN
globalce-260	461	34	.	.	PUNCT
globalce-260	462	1	eur	eur	NOUN
globalce-260	462	2	radiol	radiol	NOUN
globalce-260	462	3	.	.	PUNCT
globalce-260	463	1	20005;15:2366–2374	20005;15:2366–2374	X
globalce-260	463	2	.	.	PUNCT
globalce-260	464	1	https://doi.org/10.1007/	https://doi.org/10.1007/	PROPN
globalce-260	464	2	s00330	s00330	PROPN
globalce-260	464	3	-	-	PUNCT
globalce-260	464	4	005	005	NUM
globalce-260	464	5	-	-	PUNCT
globalce-260	464	6	2708	2708	NUM
globalce-260	464	7	-	-	PUNCT
globalce-260	464	8	y.	y.	NOUN
globalce-260	464	9	29	29	NUM
globalce-260	464	10	.	.	PUNCT
globalce-260	465	1	thompson	thompson	PROPN
globalce-260	465	2	,	,	PUNCT
globalce-260	465	3	j.	j.	PROPN
globalce-260	465	4	,	,	PUNCT
globalce-260	465	5	finnie	finnie	PROPN
globalce-260	465	6	,	,	PUNCT
globalce-260	465	7	t.	t.	PROPN
globalce-260	465	8	,	,	PUNCT
globalce-260	465	9	hall	hall	PROPN
globalce-260	465	10	,	,	PUNCT
globalce-260	465	11	i.	i.	PROPN
globalce-260	465	12	,	,	PUNCT
globalce-260	465	13	et	et	PROPN
globalce-260	465	14	al	al	PROPN
globalce-260	465	15	.	.	PUNCT
globalce-260	466	1	catching	catch	VERB
globalce-260	466	2	clouds	cloud	NOUN
globalce-260	466	3	:	:	PUNCT
globalce-260	466	4	simultaneous	simultaneous	ADJ
globalce-260	466	5	optimization	optimization	NOUN
globalce-260	466	6	of	of	ADP
globalce-260	466	7	the	the	DET
globalce-260	466	8	parameters	parameter	NOUN
globalce-260	466	9	of	of	ADP
globalce-260	466	10	biological	biological	ADJ
globalce-260	466	11	agent	agent	NOUN
globalce-260	466	12	plumes	plume	NOUN
globalce-260	466	13	using	use	VERB
globalce-260	466	14	dirichlet	dirichlet	NOUN
globalce-260	466	15	processes	process	NOUN
globalce-260	466	16	to	to	PART
globalce-260	466	17	best	good	ADJ
globalce-260	466	18	estimate	estimate	VERB
globalce-260	466	19	infection	infection	NOUN
globalce-260	466	20	source	source	NOUN
globalce-260	466	21	location	location	NOUN
globalce-260	466	22	.	.	PUNCT
globalce-260	467	1	(	(	PUNCT
globalce-260	467	2	fedcsis	fedcsis	NOUN
globalce-260	467	3	2017	2017	NUM
globalce-260	467	4	)	)	PUNCT
globalce-260	467	5	3–6	3–6	NUM
globalce-260	467	6	september	september	PROPN
globalce-260	467	7	2017	2017	NUM
globalce-260	467	8	,	,	PUNCT
globalce-260	467	9	prague	prague	NOUN
globalce-260	467	10	,	,	PUNCT
globalce-260	467	11	czech	czech	PROPN
globalce-260	467	12	republic	republic	NOUN
globalce-260	467	13	.	.	PUNCT
globalce-260	468	1	proceedings	proceeding	NOUN
globalce-260	468	2	of	of	ADP
globalce-260	468	3	the	the	DET
globalce-260	468	4	2017	2017	NUM
globalce-260	468	5	federated	federated	ADJ
globalce-260	468	6	conference	conference	NOUN
globalce-260	468	7	on	on	ADP
globalce-260	468	8	computer	computer	NOUN
globalce-260	468	9	science	science	NOUN
globalce-260	468	10	and	and	CCONJ
globalce-260	468	11	information	information	NOUN
globalce-260	468	12	systems	system	NOUN
globalce-260	468	13	.	.	PUNCT
globalce-260	469	1	2017;11(1):481–484	2017;11(1):481–484	X
globalce-260	469	2	.	.	PUNCT
globalce-260	470	1	https://doi	https://doi	NOUN
globalce-260	470	2	.	.	PUNCT
globalce-260	470	3	org/10.15439/978	org/10.15439/978	PROPN
globalce-260	470	4	-	-	PUNCT
globalce-260	470	5	83	83	NUM
globalce-260	470	6	-	-	PUNCT
globalce-260	470	7	946253	946253	NUM
globalce-260	470	8	-	-	PUNCT
globalce-260	470	9	7	7	NUM
globalce-260	470	10	-	-	SYM
globalce-260	470	11	5	5	NUM
globalce-260	470	12	.	.	SYM
globalce-260	470	13	30	30	NUM
globalce-260	470	14	.	.	PUNCT
globalce-260	471	1	shajun	shajun	PROPN
globalce-260	471	2	,	,	PUNCT
globalce-260	471	3	n.	n.	NOUN
globalce-260	471	4	and	and	CCONJ
globalce-260	471	5	raja	raja	PROPN
globalce-260	471	6	,	,	PUNCT
globalce-260	471	7	s.p	s.p	PROPN
globalce-260	471	8	.	.	PROPN
globalce-260	471	9	multiscale	multiscale	PROPN
globalce-260	471	10	transform	transform	NOUN
globalce-260	471	11	and	and	CCONJ
globalce-260	471	12	shrinkage	shrinkage	VERB
globalce-260	471	13	thresholding	thresholde	VERB
globalce-260	471	14	techniques	technique	NOUN
globalce-260	471	15	for	for	ADP
globalce-260	471	16	medical	medical	ADJ
globalce-260	471	17	image	image	NOUN
globalce-260	471	18	denoisingperformance	denoisingperformance	NOUN
globalce-260	471	19	evaluation	evaluation	NOUN
globalce-260	471	20	.	.	PUNCT
globalce-260	472	1	cit	cit	PROPN
globalce-260	472	2	.	.	PROPN
globalce-260	472	3	2020;(3):130–147	2020;(3):130–147	PROPN
globalce-260	472	4	.	.	PUNCT
globalce-260	473	1	https://	https://	PROPN
globalce-260	473	2	doi.org/10.2478/cait-2020-0033	doi.org/10.2478/cait-2020-0033	PROPN
globalce-260	473	3	.	.	PROPN
globalce-260	473	4	31	31	NUM
globalce-260	473	5	.	.	PUNCT
globalce-260	474	1	yuong	yuong	PROPN
globalce-260	474	2	,	,	PUNCT
globalce-260	474	3	s.w	s.w	PROPN
globalce-260	474	4	.	.	PROPN
globalce-260	474	5	,	,	PUNCT
globalce-260	474	6	mian	mian	PROPN
globalce-260	474	7	yu	yu	PROPN
globalce-260	474	8	soh	soh	PROPN
globalce-260	474	9	,	,	PUNCT
globalce-260	474	10	wong	wong	PROPN
globalce-260	474	11	,	,	PUNCT
globalce-260	474	12	j.m	j.m	PROPN
globalce-260	474	13	.	.	PROPN
globalce-260	474	14	internet	internet	NOUN
globalce-260	474	15	of	of	ADP
globalce-260	474	16	medical	medical	ADJ
globalce-260	474	17	things	thing	NOUN
globalce-260	474	18	:	:	PUNCT
globalce-260	474	19	brief	brief	ADJ
globalce-260	474	20	overview	overview	NOUN
globalce-260	474	21	and	and	CCONJ
globalce-260	474	22	the	the	DET
globalce-260	474	23	future	future	NOUN
globalce-260	474	24	,	,	PUNCT
globalce-260	474	25	2021	2021	NUM
globalce-260	474	26	ieee	ieee	NOUN
globalce-260	474	27	19th	19th	ADJ
globalce-260	474	28	student	student	NOUN
globalce-260	474	29	conference	conference	NOUN
globalce-260	474	30	on	on	ADP
globalce-260	474	31	research	research	NOUN
globalce-260	474	32	and	and	CCONJ
globalce-260	474	33	development	development	NOUN
globalce-260	474	34	(	(	PUNCT
globalce-260	474	35	scored	score	VERB
globalce-260	474	36	)	)	PUNCT
globalce-260	474	37	,	,	PUNCT
globalce-260	474	38	kota	kota	PROPN
globalce-260	474	39	kinabalu	kinabalu	PROPN
globalce-260	474	40	,	,	PUNCT
globalce-260	474	41	malaysia	malaysia	PROPN
globalce-260	474	42	,	,	PUNCT
globalce-260	474	43	ieee	ieee	PROPN
globalce-260	474	44	xplore	xplore	PROPN
globalce-260	474	45	.	.	PUNCT
globalce-260	475	1	2021;427–432	2021;427–432	X
globalce-260	475	2	.	.	PUNCT
globalce-260	476	1	https://	https://	PROPN
globalce-260	476	2	doi.org/10.1109/scored53546.2021.9652784	doi.org/10.1109/scored53546.2021.9652784	PROPN
globalce-260	476	3	.	.	PUNCT
globalce-260	477	1	32	32	NUM
globalce-260	477	2	.	.	X
globalce-260	478	1	mozaffari	mozaffari	PROPN
globalce-260	478	2	,	,	PUNCT
globalce-260	478	3	a.	a.	NOUN
globalce-260	478	4	,	,	PUNCT
globalce-260	478	5	behzadipour	behzadipour	PROPN
globalce-260	478	6	,	,	PUNCT
globalce-260	478	7	s.	s.	PROPN
globalce-260	478	8	,	,	PUNCT
globalce-260	478	9	kohani	kohani	PROPN
globalce-260	478	10	,	,	PUNCT
globalce-260	478	11	m.	m.	NOUN
globalce-260	478	12	identifying	identify	VERB
globalce-260	478	13	the	the	DET
globalce-260	478	14	tool	tool	NOUN
globalce-260	478	15	-	-	PUNCT
globalce-260	478	16	tissue	tissue	NOUN
globalce-260	478	17	force	force	NOUN
globalce-260	478	18	in	in	ADP
globalce-260	478	19	robotic	robotic	ADJ
globalce-260	478	20	laparoscopic	laparoscopic	NOUN
globalce-260	478	21	surgery	surgery	NOUN
globalce-260	478	22	using	use	VERB
globalce-260	478	23	neuroevolutionary	neuroevolutionary	ADJ
globalce-260	478	24	fuzzy	fuzzy	ADJ
globalce-260	478	25	systems	system	NOUN
globalce-260	478	26	and	and	CCONJ
globalce-260	478	27	a	a	DET
globalce-260	478	28	synchronous	synchronous	ADJ
globalce-260	478	29	self	self	NOUN
globalce-260	478	30	-	-	PUNCT
globalce-260	478	31	learning	learn	VERB
globalce-260	478	32	hyper	hyper	ADJ
globalce-260	478	33	level	level	NOUN
globalce-260	478	34	supervisor	supervisor	NOUN
globalce-260	478	35	.	.	PUNCT
globalce-260	479	1	appl.soft	appl.soft	PROPN
globalce-260	479	2	comput	comput	NOUN
globalce-260	479	3	.	.	PUNCT
globalce-260	480	1	2014;14(part	2014;14(part	NUM
globalce-260	480	2	a):12–30	a):12–30	PROPN
globalce-260	480	3	.	.	PUNCT
globalce-260	481	1	https://doi.org/10.1016/j.asoc.2013.09.023	https://doi.org/10.1016/j.asoc.2013.09.023	NOUN
globalce-260	481	2	.	.	PUNCT
globalce-260	482	1	33	33	NUM
globalce-260	482	2	.	.	PUNCT
globalce-260	482	3	totev	totev	PROPN
globalce-260	482	4	,	,	PUNCT
globalce-260	482	5	d.	d.	PROPN
globalce-260	482	6	,	,	PUNCT
globalce-260	482	7	dimitrova	dimitrova	PROPN
globalce-260	482	8	,	,	PUNCT
globalce-260	482	9	r.	r.	PROPN
globalce-260	482	10	,	,	PUNCT
globalce-260	482	11	dimitrov	dimitrov	PROPN
globalce-260	482	12	,	,	PUNCT
globalce-260	482	13	s.	s.	PROPN
globalce-260	482	14	main	main	ADJ
globalce-260	482	15	steps	step	NOUN
globalce-260	482	16	in	in	ADP
globalce-260	482	17	the	the	DET
globalce-260	482	18	process	process	NOUN
globalce-260	482	19	of	of	ADP
globalce-260	482	20	upgrade	upgrade	NOUN
globalce-260	482	21	of	of	ADP
globalce-260	482	22	existing	exist	VERB
globalce-260	482	23	systems	system	NOUN
globalce-260	482	24	for	for	ADP
globalce-260	482	25	automation	automation	NOUN
globalce-260	482	26	and	and	CCONJ
globalce-260	482	27	control	control	NOUN
globalce-260	482	28	of	of	ADP
globalce-260	482	29	industrial	industrial	ADJ
globalce-260	482	30	and	and	CCONJ
globalce-260	482	31	manufacturing	manufacturing	NOUN
globalce-260	482	32	processes	process	NOUN
globalce-260	482	33	in	in	ADP
globalce-260	482	34	order	order	NOUN
globalce-260	482	35	to	to	PART
globalce-260	482	36	fulfill	fulfill	VERB
globalce-260	482	37	the	the	DET
globalce-260	482	38	requirements	requirement	NOUN
globalce-260	482	39	of	of	ADP
globalce-260	482	40	the	the	DET
globalce-260	482	41	concept	concept	NOUN
globalce-260	482	42	industry	industry	NOUN
globalce-260	482	43	4.0	4.0	NUM
globalce-260	482	44	.	.	PUNCT
globalce-260	483	1	aip	aip	PROPN
globalce-260	483	2	conference	conference	NOUN
globalce-260	483	3	proceedings	proceeding	NOUN
globalce-260	483	4	.	.	PUNCT
globalce-260	484	1	2024;3063(1):060007	2024;3063(1):060007	NUM
globalce-260	484	2	-	-	PUNCT
globalce-260	484	3	1–060007	1–060007	NUM
globalce-260	484	4	-	-	PUNCT
globalce-260	484	5	6	6	NUM
globalce-260	484	6	.	.	PUNCT
globalce-260	485	1	https://	https://	PROPN
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globalce-260	485	3	.	.	PROPN
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globalce-260	486	2	.	.	PUNCT
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globalce-260	486	4	,	,	PUNCT
globalce-260	486	5	v.	v.	ADP
globalce-260	486	6	design	design	NOUN
globalce-260	486	7	of	of	ADP
globalce-260	486	8	manufacturing	manufacturing	NOUN
globalce-260	486	9	robots	robot	NOUN
globalce-260	486	10	.	.	PUNCT
globalce-260	487	1	technical	technical	ADJ
globalce-260	487	2	university	university	PROPN
globalce-260	487	3	publishing	publishing	PROPN
globalce-260	487	4	house	house	PROPN
globalce-260	487	5	,	,	PUNCT
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globalce-260	487	7	,	,	PUNCT
globalce-260	487	8	isbn	isbn	ADJ
globalce-260	487	9	954	954	NUM
globalce-260	487	10	-	-	SYM
globalce-260	487	11	438	438	NUM
globalce-260	487	12	-	-	PUNCT
globalce-260	487	13	053	053	NUM
globalce-260	487	14	-	-	PUNCT
globalce-260	487	15	1	1	NUM
globalce-260	487	16	,	,	PUNCT
globalce-260	487	17	1993;1–208	1993;1–208	NUM
globalce-260	487	18	(	(	PUNCT
globalce-260	487	19	in	in	ADP
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globalce-260	487	21	)	)	PUNCT
globalce-260	487	22	.	.	PUNCT
globalce-260	488	1	available	available	ADJ
globalce-260	488	2	online	online	ADV
globalce-260	488	3	:	:	PUNCT
globalce-260	488	4	https://plus	https://plus	X
globalce-260	488	5	.	.	PUNCT
globalce-260	488	6	cobiss.net/cobiss/bg/en/bib/1027087076	cobiss.net/cobiss/bg/en/bib/1027087076	NOUN
globalce-260	488	7	.	.	PUNCT
globalce-260	489	1	https://core.ac.uk/download/pdf/56373453.pdf	https://core.ac.uk/download/pdf/56373453.pdf	PROPN
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globalce-260	489	9	https://doi.org/	https://doi.org/	VERB
globalce-260	489	10	10.1007	10.1007	NUM
globalce-260	489	11	/	/	SYM
globalce-260	489	12	s00464	s00464	NOUN
globalce-260	489	13	-	-	PUNCT
globalce-260	489	14	003	003	NUM
globalce-260	489	15	-	-	PUNCT
globalce-260	489	16	9330	9330	NUM
globalce-260	489	17	-	-	SYM
globalce-260	489	18	3	3	NUM
globalce-260	489	19	https://doi.org/	https://doi.org/	NOUN
globalce-260	489	20	10.1007	10.1007	NUM
globalce-260	489	21	/	/	SYM
globalce-260	489	22	s00464	s00464	NOUN
globalce-260	489	23	-	-	PUNCT
globalce-260	489	24	003	003	NUM
globalce-260	489	25	-	-	PUNCT
globalce-260	489	26	9330	9330	NUM
globalce-260	489	27	-	-	SYM
globalce-260	489	28	3	3	NUM
globalce-260	489	29	https://doi.org/	https://doi.org/	NOUN
globalce-260	489	30	10.3109/13645709709153075	10.3109/13645709709153075	NUM
globalce-260	489	31	https://doi.org/	https://doi.org/	NOUN
globalce-260	489	32	10.3109/13645709709153075	10.3109/13645709709153075	NUM
globalce-260	489	33	https://www.zeitcontrol.de/basiccard_3	https://www.zeitcontrol.de/basiccard_3	NOUN
globalce-260	489	34	https://www.zeitcontrol.de/basiccard_3	https://www.zeitcontrol.de/basiccard_3	NOUN
globalce-260	489	35	https://doi.org/	https://doi.org/	NOUN
globalce-260	489	36	https://doi.org/10.33640/2405-609x.3294	https://doi.org/10.33640/2405-609x.3294	PROPN
globalce-260	489	37	https://doi.org/	https://doi.org/	VERB
globalce-260	489	38	https://doi.org/10.33640/2405-609x.3294	https://doi.org/10.33640/2405-609x.3294	PROPN
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globalce-260	499	2	.	.	PUNCT
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globalce-260	502	4	):	):	PUNCT
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globalce-260	503	2	.	.	PUNCT
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globalce-260	503	4	.	.	PUNCT
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globalce-260	505	1	j.	j.	PROPN
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globalce-260	506	2	.	.	PUNCT
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globalce-260	507	3	.	.	PUNCT
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globalce-260	508	2	.	.	PUNCT
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globalce-260	509	4	.	.	PUNCT
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globalce-260	510	2	,	,	PUNCT
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globalce-260	510	8	,	,	PUNCT
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globalce-260	511	7	)	)	PUNCT
globalce-260	511	8	,	,	PUNCT
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globalce-260	511	10	.	.	PUNCT
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globalce-260	512	5	.	.	PUNCT
globalce-260	513	1	673–686	673–686	NUM
globalce-260	513	2	.	.	PUNCT
globalce-260	514	1	https://doi.org/10.1016/b978-0-12-816034-3.00020-1	https://doi.org/10.1016/b978-0-12-816034-3.00020-1	PROPN
globalce-260	514	2	.	.	PUNCT
globalce-260	515	1	https://doi.org/10.1016/j.jbi.2020.103463	https://doi.org/10.1016/j.jbi.2020.103463	PROPN
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