Evaluation of Experienced Manipulation Characteristics in Robotic Surgery Using Log Data From the Hinotori Surgical System.

Aim: This study aimed to examine characteristics of manipulation performed by experienced surgeons in robotic surgery by analyzing log data obtained from the Japanese surgical robot hinotori. Methods: Twelve gastrointestinal surgeons performed four tasks (transportation, dissection, single suturing, and continuous suturing), four times each. In total, 24 trials performed by six experienced surgeons were classified as the experienced (E) group, and 24 trials conducted by six less-experienced surgeons were classified as the less-experienced (L) group. Forceps log data were collected using the Medicaroid Intelligent Network, a hinotori network support system. Data on parameters such as instrument travel distance, velocity, acceleration, jerk, normalized mean squared jerk, wrist articulation counts, and scope manipulation characteristics were extracted and compared between the E and L groups. Results: In all tasks, the E group had significantly shorter task durations than the L group. The E group also exhibited higher average velocity, acceleration, jerk, and normalized mean squared jerk values in several tasks, particularly showing shorter travel distances with the right instrument (Arm3) and faster, more dynamically modulated movements with the left instrument (Arm1). Further, compared with the L group, the E group had a significantly longer camera movement per scope pedal press and significantly fewer wrist articulations in the suturing tasks. Conclusions: Experienced manipulation in robotic surgery is characterized by shorter instrument travel distances, intentional modulation of movement speed, and minimal wrist articulation. Quantitative evaluation of operative characteristics using log data can contribute to future applications in surgical training and skill assessment.