Table A1.
Latency requirements for telesurgery.
| Data Type | Reported Latency | Source | Distance |
|---|---|---|---|
| 2D camera flow | <150 ms [20,21] | Experiment [32] | 14,000 km |
| <200 ms [11,22] | Other [22] | ≈1000 m | |
| <700 ms [23] | Experiment [23] | 9000 miles | |
| <600 ms [24] | Experiment [24] | 14,000 km | |
| <300 ms [25] | Experiment [25] | 14,000 km | |
| 3D camera flow | <150 ms [20,21] | Experiment [32] | 14,000 km |
| <300 ms [26] | Experiment [26] | - | |
| <500 ms [27] | Experiment [27] | - | |
| <400 ms [28,29] | Simulation [38] | - | |
| 280 ms [195] | Experiment [195] | 15 km | |
| 20–50 ms [30] | Other [30] | 200 km | |
| 2–60 ms [46] | Experiment [196] | - | |
| 146–202 ms [197] | Experiment [197] | 4 km, 6.1 km | |
| 28 ms [191] | Experiment [191] | ≈740 km, 1260 km, 144 km, 190 km, 3160 km | |
| 258–278 ms [198] | Experiment [198] | 3000 km | |
| Audio flow | 0.25–5 ms [48] | Simulation [48] | - |
| <150 ms [20,21,28,31] | Experiment [32] | 14,000 km | |
| 100 ms [30] | Other [30] | 200 km | |
| Temperature | <250 ms [11,20,21,33,34] | Other [33] | - |
| Blood pressure | <250 ms [11,20,21,33,34] | Other [33] | - |
| Heart rate | <250 ms [11,20,21,33,34] | Other [33] | - |
| Respiration rate | <250 ms [11,20,21,33,34] | Other [33] | - |
| ECG | <250 ms [11,20,21,33,34] | Other [33] | - |
| EEG | <250 ms [11,20,21,33,34] | Other [33] | - |
| EMG | <250 ms [11,20,21,33,34] | Other [33] | - |
| Force | 3–10 ms [20,21] | Experiment [37] | - |
| 1–10 ms [30] | Other [30] | 200 km | |
| 3–60 ms [28] | Experiment [39] | ≈3200 miles | |
| <50 ms [29,35] | Experiment [40] & Simulation [35] | few hundred meters | |
| 40 ms [29] | Experiment & Simulation [29] | - | |
| <100 ms [36] | Experiment [36] | - | |
| Vibration | <5.5 ms [20,21,28,31] | Experiment [37] | - |
| <50 ms [29] | Experiment [40] | few hundred meters | |
| 1–10 ms [30] | Other [30] | 200 km |