Table 1 Performance parameters and requirements for the basic skills modules

Performance parameters

1: Coordination

2: Instrument navigation

3: Grasping

4: Lifting and grasping

5: Fine dissection

6: Cutting

Total time (s)

150

-

-

120

150

200

Right instrument path length (m)

3

1.4

2

3.2

-

1.8

Right instrument angular path (degrees)

750

250

300

600

-

400

Right instrument time (s)

-

25

45

-

-

-

Right instrument misses (#/%)

-

2

-

60

-

-

Right instrument outside of view

4

-

-

-

-

-

Grasper collided with right box (#)

-

-

-

10

-

-

Right box lifted (#)

-

-

-

15

-

-

Left instrument path lenght (m)

0.8

1.4

2

3.2

-

2

Left instrument angular path (degrees)

300

250

300

600

-

400

Left instrument time (s)

-

25

45

-

-

-

Left instrument misses (#)

-

2

-

60

-

-

Left instrument outside of view

-

-

-

-

-

-

Grasper collided with left box (#)

-

-

-

10

-

-

Left box lifted (#)

-

-

-

15

-

-

Tissue damage (#)

5

-

3

5

-

10

Maximum damage (mm)

10

10

5

15

-

25

Misses (%)

12

-

-

-

-

-

Ripped or burned blood vessels (%)

-

-

-

-

0

-

Energy damaged on blood vessels (%)

-

-

-

-

20

-

Ripped small vessels (%)

-

-

-

-

25

-

Burned small blood vessels w/o stretch (%)

-

-

-

-

25

-

Rip failure (%)

-

-

-

-

-

25

Drop failure (%)

-

-

-

-

-

25

Max stretch damage

-

-

-

-

-

100