This paper presents the results of experiments examining the performance of a telesurgeon and an assistant local to the patient performing simulated laparoscopic tasks under a variety of time-delay conditions. Of particular interest is a comparison between the surgeon provided with audio/video and force feedbck synchronously with various time delays, and the surgeon performing asynchronously, where video is delayed relative to force feedback. These conditions are relevant since current telecommunication systems have limited bandwidth, and video signals must be compressed for efficient transmission. This produces a time lag between the video camera and the surgeon's monitor, Force feedback and position commands from a surgical teleoperator require much lower bandwidth, and can be transmitted in near-real time. In the first of two series of experiments, two laparoscopic training tasks were performed under different time-delay conditions, with force and video feedback delayed by equal amounts. In the second series, using the same tasks, the force feedback was more immediate, while the video delay lagged by the time required for compression and decompression. In both experiments, there were various role assignments in terms of whether the telesurgeon or the assistant controlled the laparoscope and/or the various surgical tools required. The three most striking results are that (1) nontrivial time delays significantly degraded the performance of the surgical tasks, (2) asynchronous force feedback resulted in significantly faster task-performance than did synchronous performance when the surgeon operated the laparoscopic tools, and (3) there was no difference between synchrony and asynchrony when the remote surgeon operated the laparoscope and gave commands while the local assistant operated the surgical tools.
