“…Principal components that explained the majority of variation in the data were used as nonspecific summary features for OCASE-T in some studies (69, 70, 73, 79). Generic descriptors of tool motion efficiency, such as time, path length, or movements, which may be easily computed on any surgical platform, were used for OCASE-T in several other studies (78, 79, 81, 82, 84, 85, 93, 97). Descriptors of other measures of tool motion, such as force, were used as features for OCASE-T in a few studies (54, 70, 71, 83, 88).…”