Table 2.

Surgical Gestures and Events Annotated in the Task Performance Videos

Surgeme/Event Prefix	Task	Description
RP	PT	Reach for peg.
TP	PT	Transfer peg between graspers.
PP	PT	Place peg into pegboard.
RN	KT	Reach for needle.
ON	KT	Orient needle.
CL	KT	Making C-loop around right grasper.
RS	KT	Reach for suture with right grasper.
PS	KT	Pull suture with both graspers.
DP	PT	Peg is dropped (event).
DN	KT	Needle is dropped (event).