TABLE II. Summary of the Metrics Extracted for Every Exercise. Analysis is Grouped by Type of Controller Used (Unilateral Versus Bilateral). P-values From Running a Mann-Whitney Test Between the Groups are Indicated.
| Description | Unit | Formula | Non haptics | Haptics | P-value | ||
|---|---|---|---|---|---|---|---|
| Mean | SD | Mean | SD | ||||
| Maximum force measured at the tip |  |
 |
6.87 | 4.00 | 4.28 | 1.96 | 0.0019 |
| Mean force measured at the tip |  |
 |
0.81 | 0.42 | 0.48 | 0.30 | 0.0023 |
| Overall execution time |  |
 |
577 | 227 | 615 | 330 | 0.89 |
| Total time that the laser was active |  |
— | 175 | 57 | 201 | 87 | 0.34 |
| Total time that the auditory cue was given |  |
— | 85.75 | 71.07 | 55.45 | 91.75 | 0.0011 |
| Travelled path by grasper master |  |
 |
5333 | 4970 | 4590 | 3353 | 0.61 |
| Number of pieces of tissue being peeled (fewer is better) | — | — | 1.19 | 0.48 | 1.08 | 0.28 | 0.58 |
| Number of times … | |||||||
| …the user had an accident with the instruments | — | — | 1.04 | 1.02 | 0.36 | 0.64 | 0.0077 |
| …the laser pedal was pressed | — | — | 23.2 | 8.6 | 25.4 | 13.0 | 0.80 |
| …the user fully closed the grasper | — | — | 18.6 | 13.7 | 24.8 | 24.1 | 0.55 |
| …the grasper was unclutched (off) | — | — | 4.22 | 4.37 | 3.88 | 4.87 | 0.60 |
| …the endoscope was unclutched (off) | — | — | 16.6 | 10.0 | 17.8 | 12.6 | 0.73 |
| …the auditory cue was given | — | — | 63 | 50 | 42 | 42 | 0.016 |
| Time that the grasper was unclutched |  |
— | 67.0 | 97.2 | 73.3 | 115.8 | 0.66 |
| Time that the endoscope was unclutched |  |
— | 19.3 | 8.98 | 22.1 | 16.0 | 0.96 |
| Jerkiness of grasper master |  |
|
40.6 | 31.6 | 32.7 | 19.4 | 0.29 |
| Jerkiness of endoscope master |  |
 |
3.82 | 3.71 | 3.22 | 2.31 | 0.86 |
| Jerkiness of grasper slave |  |
 |
34.4 | 34.9 | 21.2 | 18.4 | 0.036 |
| Jerkiness of endoscope slave |  |
 |
0.03 | 0.02 | 0.03 | 0.02 |
 0.99 |
a
