TABLE III:
Tool motion data for both the manual and robotic experiments. The endoscope is tracked during both experiments. The 1D motion of the forceps is tracked during the manual procedure, and the positions of the manipulators are logged in software during the robotic procedure. For the manual procedure, these values include the forcep motions when the tool is inside of the endoscope.
| Manual Forceps |
Robotic Left Arm |
Robotic Right Arm |
Units | |
|---|---|---|---|---|
| Tip Distance: Perf | 479 | 201 | 218 | mm |
| Total Time: Perforation | 70 | 76 | 76 | s |
| Average Velocity: Perf | 6.8 | 2.6 | 2.9 | mm/s |
| Tip Distance: Cut | 354 | 230 | 267 | mm |
| Total Time: Cut | 40 | 60 | 60 | s |
| Average Velocity: Cut | 8.9 | 3.8 | 4.5 | mm/s |