312 Chapter 12 Fig. 4: Tracking point on instrument (A) and tracking point on tissue 48 milliseconds later (B). Fig. 5: Summary data of the automatic vs... calculated total path length in cm (A) and the automatic vs... calculated average speed in cm/s (B). We found the computer program could not run fully automatic in RARP surgery since the tracking point could often not correctly identify the instrument’s joint, meaning the tracking point had to be manually placed and moved by the researcher. To illustrate this, in figure 4 a tracking point was placed on the instrument manually (figure 4A) after which the tracking program ran automatically. 48 milliseconds later, the tracking Table 4: Automatic and calculated total path length in cm, difference in total pathlength in %, number of sudden movements and average speed. Median Min Max Automatic total path length (cm) 1594,95 949,91 3264,24 Calculated total path length (cm) 2134,99 1585,38 3515,76 Median difference in path length (%) 16,10 Automatic number of sudden movements 0 0 0 Calculated number of sudden movements 101 45 167 Automatic average speed (cm/s) 1,67 1,22 2,05 Calculated average speed (cm/s) 2,16 1,48 2,63 Median difference in average speed (%) 23,17
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