Table 7. Description of tasks designed in this study, and the reason for the associated skill necessity in RAS.

Task name	Instument control	Ball placement	Spatial control II	Fourth arm tissue dissection	Hands-on surgical training
Task ID	(1)	(2)	(3)	(4)	(5)
Complexity level	2	4	5	3	1
Skill	orientation and control of position	Hand-eye-tool coordination & depth perception & foot control	Hand-eye-tool coordination & depth perception & foot control	orientation and control of position	Motor skills
Reason	Lack of tactile feedback in RAS requires development of this skill	Remoteness and lack of tactile feedback requires development of this skill	Remoteness and lack of tactile feedback requires development of this skill	Lack of tactile feedback in RAS requires development of this skill	Learn how to have fine hand movements