Description | Move needle under skin to stitch exit location using grasper A |
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Instructional Goals | 1. Optimal needle orientation and motion 2. Optimal needle depth |
CommonErrors | 1. Instrument collision 2. Drive needle too deep into tissue |
OptimalStrategy | Bring needle tip in contact with the under side of the second target point by supinating hand A wrist slightly (if initial target is on top) or pronating hand A wrist slightly (if initial target is on bottom), maintaining perpendicular orientation and without driving needle too deep into the tissue |
Non-optimal Strategies | 1. Align needle tip with the under side without supinating dominant hand. 2. Align needle tip without maintaining perpendicular orientation. |
Metrics | 1. Number of instrument-instrument collisions 2. Time and economy metric 3. Number of instrument movements 4. Instrument path length 5. Number of unnecessary needle punctures 6. Hand orientation 7. Needle driving depth |