Table 4 Total Trajectory Lengths (cm) in teleoperated peg-transfer Task

From: Enhancing telesurgical safety with predictive digital twin synchronization: a framework for latency compensation in robotic surgery

Communication Latency

DTVA usage

Improvement (%Δ)

With

Without

5 ms

121.42 ± 11.43

124.21 ± 6.86

2.25%

300 ms

137.48 ± 10.93

141.97 ± 7.71

3.16%

600 ms

179.81 ± 7.63

187.55 ± 4.88

4.13%

900 ms

226.35 ± 13.05

255.44 ± 11.56

11.39%

  1. Data expressed as mean ± SD.
  2. Improvement (%Δ) = (Without DTVA - With DTVA)/Without DTVA × 100%.
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