Figures & data
Figure 1. Overview of system components.
Figure 2. Endo-trainer from 3D-Med used in the studies.
Figure 3. Aluminum collar with markers and force sensor mounted on needle driver.
Figure 4. Median discard filter
Figure 5. Template construction algorithm.
Figure 6. Needle driver, string, and weight used during the calibration procedure to align the template and force coordinate systems. Orange ellipses indicate the location of optical markers.
Figure 7. Sample trajectory recorded from the system, with instrument orientation axes overlaid at constant time intervals. The black line represents the 3D trajectory taken by the instrument, while the red, green and blue lines (terminated by an ×, triangle and star, respectively) represent the local x, y, and z axes of the instrument.
Figure 8. Sampled position, force, and resulting work signal from a random segment of a recorded procedure.
Figure 9. View from the laparoscopic camera for (a) the FLS pegboard task and (b) the simple interrupted suturing task.
Table I. Significance of correlations between each measure and each task. (1: fundamental laparoscopic skills; 2: simple interrupted suture; 3: continuous running suture) for non-dominant (N) and dominant hand (D). * indicates significant correlation (p < 0.05); – indicates non-significant or no correlation.