Table 1 Metric definitions

Overall score

-

The weighted average of metric scores

Economy of motion

1

Total distance (measured in centimeters) traveled by all instruments

Time to complete

2

Total time (measured in seconds) the user spends on the exercise

Instrument collisions

3

Total number of instrument-on-instrument collisions exceeding a minimum force threshold

Master workspace range

4

Diameter (measured in centimeters) of user’s working volume on master grips

Critical errors

5

Number of metrics whose % score is zero

Instruments out of view

6

Total distance (measured in centimeters) traveled by instruments outside the user’s field of view

Excessive force

7

Total time (measured in seconds) an excessive instrument force is applied above a prescribed threshold

Missed targets

8

Number of missed targets

Drops

9

Number of times an object or objects are dropped in an inappropriate region of the scene