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

Table 2

Performance evaluation result.

Sample number	Planning time (s)	Path tracking time (s)	Returned reference waypoints number	Cost	Success rate (%)
200	3.676	4.705	13.5	21.9	90
500	15.935	4.277	14.3	11.1	85
1000	47.708	3.909	11.1	6.5	85
2000	216.373	3.688	11.1	5.7	75