Table 3.

Human Performance (Laparoscopic Knot Tying) Compensation Under Conditions of Latency

Latency (ms)	Errors	Perception of Delay	Compensation
0 ms	0	None	None
50 ms	0	None perceived	Automatically subconsciously
100 ms	0 – 1	Aware of a ‘difference’, Unclear of cause	Automatically and deliberately
150 ms	0 – 1	Aware of delay	Consciously takes action – e.g., move-and-wait
200 ms	> 2	Very aware of delay	Attempts various methods, mostly successful
> 300 ms	critical	Very concerned of delay	Frustrated, often unsuccessful