Table 2 Outcomes of pig lung dissection tasks performed by four examinees using the Saroa system with the feedback function turned on and off.
From: Impact of a pneumatic surgical robot with haptic feedback function on surgical manipulation
Task | Examinees | FB | Mean grasping force (N) | Variance |
|---|---|---|---|---|
Interlobar dissection | A | Off | 3.08 | 0.03 |
On | 1.04 | 0.13 | ||
B | Off | 2.90 | 0.10 | |
On | 1.87 | 0.67 | ||
C | Off | 2.99 | 0.09 | |
On | 1.29 | 0.43 | ||
D | Off | 2.93 | 0.05 | |
On | 2.10 | 0.18 | ||
Vascular dissection | A | Off | 3.01 | 0.06 |
On | 1.66 | 0.30 | ||
B | Off | 2.70 | 0.05 | |
On | 1.70 | 0.42 | ||
C | Off | 2.84 | 0.21 | |
On | 1.52 | 0.45 | ||
D | Off | 2.89 | 0.22 | |
On | 0.81 | 0.05 | ||
Bronchial dissection | A | Off | 3.04 | 0.06 |
On | 2.15 | 0.30 | ||
B | Off | 2.99 | 0.07 | |
On | 2.17 | 0.65 | ||
C | Off | 2.91 | 0.07 | |
On | 0.95 | 0.12 | ||
D | Off | 2.97 | 0.08 | |
On | 2.18 | 0.48 | ||
Lymph node resection | A | Off | 2.22 | 0.72 |
On | 1.54 | 0.04 | ||
B | Off | 2.76 | 0.07 | |
On | 0.57 | 0.25 | ||
C | Off | 2.81 | 0.06 | |
On | 1.01 | 0.10 | ||
D | Off | 2.96 | 0.07 | |
On | 2.64 | 0.18 |
