Validation of a Novel Virtual Reality Simulator for Robotic Surgery

Table 1

Parameter definition.

Exercise and parameters	Definition
Errors (𝑛)	If a user receives a 0% score for any metric, this is counted as an 𝑛 error.
Drops (𝑛)	“Camera Targeting”: number of times a stone is dropped outside of a basket or platform and hits the cavity wall.; “Tread the Rings”: number of times the needle is dropped on the floor.; “Peg Board”: number of times a ring is dropped in the floor.
Economy of motion (cm)	Total distance travelled by all EndoWrist tools; measured from the clevis, not the tool tips.
Excessive instrument force (sec)	Total time an applied instrument force exceeds a given force threshold.
Instrument collisions (𝑛)	Number of times one instruments collides with another instrument.
Instrument(s) out of view (cm)	Total distance travelled by all instrument when not in view.
Master workspace range (cm)	Combined radius from two spheres that encapsulate the path travelled by the master grips.
Time to complete (sec)	Total time that begins when the user enters following mode and then ends when the user finishes or exits an exercise.