. Author manuscript; available in PMC: 2023 Mar 24.

Published in final edited form as: IEEE Trans Med Robot Bionics. 2021 Jul 15;3(3):762–772. doi: 10.1109/tmrb.2021.3097415

Table 1.

Ex-vivo vaginal cuff closure.

Modality	Time per knot (seconds)	Time per stitch (seconds)	# of mistakes	Suture spacing (mm)	Bite depth (mm)
STAR (with robotic assistant)	54.00 ± 2.61	23.38 ± 2.52	1	2.63 ± 1.66	3.29 ± 1.32
STAR (with human assistant)	83.74±43.60	45.63±9.46	5	2.60±1.04	n/a
LAP	215.67 ± 49.42	92.15 ± 41.93	30	4.22 ± 2.64	3.80 ± 1.70
RAS	202.17 ± 27.93	103.38 ± 44.57	13	5.05 ± 2.42	2.30 ± 1.49