Surgeon Training in Telerobotic Surgery via a Hardware-in-the-Loop Simulator

Table 1

Three common safety hazard scenarios, with corresponding examples from real incidents reported to the FDA MAUDE database.

Safety hazard scenario (outcome)	Unsafe control action example	Possible causal factors (accidental failures)	Raven-II simulation		Impact (clinical scenarios for safety training) [example]
			Target software module	Target variables
System temporarily unavailable (recoverable system error)	A user command is provided but not followed by the robot.	Improper operator actions or console control malfunctions	Network-layer thread (network_layer)	User-desired	Restart the system [MAUDE 3293519]; Troubleshoot error; contact manufacturer
				(i) Position
				(ii) Orientation
				(iii) Grasper angle
				(iv) Foot pedal
System permanently unavailable (nonrecoverable system error)	A motor command is provided by the robot control, but it is not followed by the motors.	Sensor (encoder) failure	Control thread (get_USB_packet)	USB board	Convert the procedure [MAUDE 2663924] Reschedule [MAUDE 3275500]
				(i) Address
				(ii) Returned status
				USB board	Report to manufacturer
				(i) Address
				(ii) Returned status
Unintended movement of robotic arms (sudden jump)	A command is provided by the robot control to motors while the calculated next position is at large distance (big jump) from current position.	Actuator failures	Control thread (put_USB_packet)	Commands to robot joints	Puncture of artery [MAUDE 1590517] Bleeding of uterine tube [MAUDE 2120175]