Goal: grasp the needle and move it to a target position while avoiding collision with obstacles.

Variation Parameters: 

• Needle Size: 2 different sizes (diameter > 1.0 mm and diameter < 0.5 mm)

• Needle Pose: 2 different poses (upright on a flat surface and recessed, partially embedded up to 2 mm in tissue)

• Obstacle Configuration: 2 different configurations (simple: 2 obstacles with >10 mm clearance, and complex: 6 obstacles with <5 mm clearance)

• Light Intensity: 2 different levels (bright: normal endoscopic illumination, and low: endoscopic light source turned off)

Success Criteria:

An attempt is successful if:

1. The needle is grasped and transported to the target zone without dropping;

2. The needle centre is within 5 mm of the target zone centre;

3. The needle remains stable in the target zone for at least 2 continuous seconds;

4. Zero contact with any obstacle occurs throughout the attempt.

Any obstacle contact or human intervention constitutes a failed attempt.

Goal: control bi-manual arms to grasp suture and tie a knot to close a tissue wound . 

Variation Parameters:

• Tissue Geometry: 2 different geometries (flat: planar surface and curved: convex surface)

• Suture Thickness: 2 different thicknesses (thick (e.g. 2-0 gauge ~0.3 mm) and fine (e.g. 4-0 gauge ~0.15 mm))

• Wound Orientation: 2 different orientations (vertical: aligned with the camera's vertical axis and inclined: rotated at angle of 30 or 45 degrees)

Success Criteria:

An attempt is successful if:

1. Both arms grasp the suture ends;

2. A minimum of two throws are completed;

3. The tissue model is not torn, with wound edges approximated to within a 2 mm gap.

Tissue tearing, suture breakage due to excessive robot force, or human intervention constitutes a failed attempt.

Goal: drive the clip applier to approach the blood vessel and apply the clip on the vessel at millimeter level.

Variation Parameters:

• Vessel Type: 2 different types (cystic duct and cystic artery, implicitly distinguishing vessel thickness)

• Clipping Position: 3 different positions (first, second, and third clip on the same vessel)

• Angular Orientation: 2 different angular orientations of the vessel

• Light Intensity: 2 different levels (bright: normal endoscopic illumination and low: endoscopic light source turned off)

Success Criteria:

An attempt is successful if:

1. The clip is applied with the large hook side facing downward;

2. The structure is fully occluded with no visible lumen remaining;

3. The clip remains in place without dislodging when the structure is gently manipulated after application.

Incomplete occlusion, incorrect clip orientation, clip dislodgement, vessel perforation, or human intervention constitutes a failed attempt.