1. European Urology Focus
Combining of ETHOS Operating Ergonomic Platform, Three-dimensional Laparoscopic Camera, and Radius Surgical System Manipulators Improves Ergonomy in Urologic Laparoscopy: Comparison with Conventional Laparoscopy and da Vinci in a Pelvi Trainer 
Theodoros Tokas, Ali Serdar Gözen, Margaritis Avgeris, Alexandra Tschada, Marcel Fiedler, Jan Klein, Jens Rassweiler 
European Urology Focus 
DOI: /j.euf
Copyright © 2016 European Association of Urology Terms and Conditions

2. Fig. 1
(A, B) The ETHOS ergonomic platform. (C) The three-dimensional laparoscopic camera. (D) The Radius Surgical System manipulators. (E) The laparoscopic ergonomic system. (F) The da Vinci surgical robot. (G) Heilbronn training program: Step IV, chicken leg, dorsal vein complex simulation. Suturing with pronation needle movement. (H) Heilbronn training program: Step V, circular suturing and knotting on a tubular structure. (I) Heilbronn training program: Step VI, porcine urethrovesical anastomosis.
European Urology Focus DOI: ( /j.euf )
Copyright © 2016 European Association of Urology Terms and Conditions

3. Fig. 2
(A) Box plot illustrating the distribution of task completion time between the different instrument combinations and during the different tasks. (B) Box plot illustrating the total discomfort score distribution between the different combinations and during the different steps.
2D=two-dimensional laparoscopic camera; 3D=three-dimensional laparoscopic camera; 4 DOF=conventional needle holders; 7 DOF=Radius Surgical System needle holders; DOF=degrees of freedom; ns=not significant.
* p<0.05.
** p<0.001.
European Urology Focus DOI: ( /j.euf )
Copyright © 2016 European Association of Urology Terms and Conditions

4. Fig. 3
(A, C, E) Mean task completion time differences of the individual participants between the different instrument combinations and conventional laparoscopy (reference axis). (B, D, F) Mean task completion time differences of the individual participants especially between the ETHOS-full ergonomic set (ETHOS, three-dimensional [3D] camera, Radius Surgical System needle holders) or da Vinci and conventional laparoscopy (reference axis).
2D=two-dimensional laparoscopic camera; 3D=three-dimensional laparoscopic camera; 4 DOF=conventional needle holders; 7 DOF=Radius Surgical System needle holders; DOF=degrees of freedom.
European Urology Focus DOI: ( /j.euf )
Copyright © 2016 European Association of Urology Terms and Conditions

5. Fig. 4
(A, C, E) Total discomfort score differences of the individual participants between the different instrument combinations and conventional laparoscopy (reference axis). (B, D, F) Total discomfort score differences of the individual participants especially between the ETHOS-full ergonomic set (ETHOS, three-dimensional [3D] camera, Radius Surgical System needle holders) or da Vinci and conventional laparoscopy (reference axis).
2D=two-dimensional laparoscopic camera; 3D=three-dimensional laparoscopic camera; 4 DOF=conventional needle holders; 7 DOF=Radius Surgical System needle holders; DOF=degrees of freedom.
European Urology Focus DOI: ( /j.euf )
Copyright © 2016 European Association of Urology Terms and Conditions