1. Volume 200, Issue 4, Pages 895-902 (October 2018)
Use of Automated Performance Metrics to Measure Surgeon Performance during Robotic Vesicourethral Anastomosis and Methodical Development of a Training Tutorial 
Jian Chen, Paul J. Oh, Nathan Cheng, Ankeet Shah, Jeremy Montez, Anthony Jarc, Liheng Guo, Inderbir S. Gill, Andrew J. Hung 
The Journal of Urology 
Volume 200, Issue 4, Pages (October 2018)
DOI: /j.juro
Copyright © 2018 American Urological Association Education and Research, Inc. Terms and Conditions

2. Figure 1
EndoWrist needle driver motion, including roll (rotation along instrument shaft), pitch (instrument wrist joint rotation) and yaw (instruction jaw opening).
The Journal of Urology  , DOI: ( /j.juro )
Copyright © 2018 American Urological Association Education and Research, Inc. Terms and Conditions

3. Figure 2
Three phases of suturing movement. a, needle driver grasps needle in final position. b, needle first touches tissue. c, entire needle is driven through tissue. d, suture is cinched down.
The Journal of Urology  , DOI: ( /j.juro )
Copyright © 2018 American Urological Association Education and Research, Inc. Terms and Conditions

4. Figure 3
Robotic needle driving gesture summary and use during vesicourethral anastomosis. a, classification of 14 common robotic needle driving gestures. Needle driven by several different gestures without discernible pattern was categorized as random gesture. b, robotic needle driving gesture use on urethral stump side. c, robotic needle driving gesture use on bladder neck side. b and c, colors correspond to needle driving gestures (a).
The Journal of Urology  , DOI: ( /j.juro )
Copyright © 2018 American Urological Association Education and Research, Inc. Terms and Conditions