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Robotic-assisted surgery requires an intuitive and effective human-machine interface. Providing haptic feedback for pinching and dissecting motions of bipolar forceps, a tool commonly used in neurosurgery, could potentially improve the surgeon's experience. Current haptic hand controllers have limited actuation and feedback capability, requiring surgeons to hold the handle differently compared to...
BackgroundThis paper presents the experimental evaluation of three commercially available haptic hand‐controllers to evaluate which was more suitable to the participants.
MethodsTwo surgeons and seven engineers performed two peg‐in‐hole tasks with different levels of difficulty. Each operator guided the end‐effector of a Kuka manipulator that held surgical forceps and was equipped with a surgical...
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