Development and validation of metrics for a new RAPN training model - dos Santos Almeida Farinha, Rui Jorge; Piro, Adele; Mottaran, Angelo; Paciotti, Marco; Puliatti, Stefano; Breda, Alberto; Porter, James; Van Cleynenbreugel, Ben; Vander Sloten, Jos; Mottrie, Alexandre; Gallagher, Anthony G. (Journal of Robotic Surgery, 2024)