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BackgroundThe principal objective of the experiment was to analyze the effects of the clutch operation of robotic surgical systems on the performance of the operator. The relative coordinate system introduced by the clutch operation can introduce a visual-perceptual mismatch which can potentially have negative impact on a surgeon's performance. We also assess the impact of the introduction of additional tactile sensory information on reducing the impact of visual-perceptual mismatch on the performance of the operator.MethodsWe asked 45 novice subjects to complete peg transfers using the da Vinci IS 1200 system with grasper-mounted, normal force sensors. The task involves picking up a peg with one of the robotic arms, passing it to the other arm, and then placing it on the opposite side of the view. Subjects were divided into three groups: aligned group (no mismatch), the misaligned group (10cm z axis mismatch), and the haptics-misaligned group (haptic feedback and z axis mismatch). Each subject performed the task five times, during which the grip force, time of completion, and number of faults were recorded.ResultsCompared to the subjects that performed the tasks using a properly aligned controller/arm configuration, subjects with a single-axis misalignment showed significantly more peg drops (p=0.011) and longer time to completion (p&nbsp

Priority maps are winner-take-all neural mechanisms thought to guide the allocation of covert and overt attention. Here, we go beyond this standard definition and argue that priority maps play a much broader role in controlling goal-directed behavior. We start by defining what priority maps are and where they might be found in the brain; we then ask why they exist-the function that they serve. We propose that this function is to communicate a goal state to the different effector systems, thereby guiding behavior. Within this framework, we speculate on how priority maps interact with visual working memory and introduce our common source hypothesis, the suggestion that this goal state is maintained in visual working memory and used to construct all of the priority maps controlling the various motor systems. Finally, we look ahead and suggest questions about priority maps that should be asked next.