Table 1.

Description of the tasks and their surgical equivalents.

Taska	Description	Surgical equivalent
Task 1: Grip and placement	Take the sphere with one hand and move it to a new location within the workspace	Gripping and retraction of a tissue to a given position, placement of clips and hemostasis, and use of extractor bags
Task 2: Transfer and placement of an object	Take the sphere, transfer it to another instrument, and place it inside a hollow cylinder	Transfer of a needle between a clamp and a needle holder
Task 3: Cross	Instruments travel along a surface in a 3D cylinder	Small intestine exploration
Task 4: Removal and reinsertion of instruments	Removal of the instruments from the operative site and reinsertion	One instrument stabilizes one organ while the other is removed from the field and reintroduced
Task 5: Diathermy	Cauterize a series of targets located in a fixed sphere	Cauterize a bleeding blood vessel
Task 6: Target manipulation and diathermy	Take the sphere with the instrument and place it inside a virtual space represented by a cube. Cauterize a series of targets with the other hand	Present and set a target to cauterize

^aAdapted from [9].