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Recently the Imperial College London put together some research regarding the education of DREs utilizing ASSIST-U haptics simulator system, built by the program. The video below shows the progress of the simulated environment which provides a safe environment to repeatedly perform DREs including: 3D meshes, CTA decision making (state machine), internal view, modeling of coccyx, prostate
ASSIST-U Digital Rectal Examination Simulator from Imperial College London | HealthySimulation.com