Teach and Playback Training Device for Minimally Invasive Surgery

Table 1

Mean pulse and standard deviation values in the “teach” and “playback” phases, and average percentage errors in the stationary and physically key-framed states.

	Teach phase (pulse value)		Playback phase (pulse value)		Average error (%)
	Mean	St. dev.	Mean	St. dev.	Stationary	Key-framed
Servo 1	296.5	1.22	302.6	4.88	2.5	6.1
Servo 2	281.2	0.42	288.4	3.25	2.6	5.2
Servo 3	81.3	0.49	81.9	1.18	1.3	5.5
Servo 4	298.4	0.58	302.3	1.76	1.3	5.3
Servo 5	162.6	0.48	162.5	1.68	0.8	3.8
Servo 6	124.8	0.66	124.8	0.99	0.6	3.3