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Quantitative characterization of surgical movements can improve the qualityof patient care by informing the development of new training protocols forsurgeons, and the design and control of surgical robots. Here, we present anovel characterization of open and teleoperated suturing movements that isbased on principles from computational motor control. We focus on theextensively-studied relationship between the speed of movement and itsgeometry. In three-dimensional movements, this relationship is defined by theone-sixth power law that relates between the speed, the curvature, and thetorsion of movement trajectories. We fitted the parameters of the one-sixthpower law to suturing movements of participants with different levels ofsurgical experience in open (using sensorized forceps) and teleoperated (usingthe da Vinci Research Kit / da Vinci Surgical System) conditions from twodifferent datasets. We found that teleoperation significantly affected theparameters of the power law, and that there were large differences betweendifferent stages of movement. These results open a new avenue for studying theeffect of teleoperation on the spatiotemporal characteristics of the movementsof surgeons, and lay the foundation for the development of new algorithms forautomatic segmentation of surgical tasks.

What Can Spatiotemporal Characteristics of Movements in RAMIS Tell Us?