title: Effect of force feedback from each DOF on the motion accuracy of a surgical tool in performing a robot-assisted tracing task.
abstract: In robot-assisted surgery, it may be important to provide force feedback to the hand of the surgeon. Here we examine how force feedback from each degree of freedom (DOF) on a hand controller affects the motion accuracy of a surgical tool. We studied the motion accuracy of a needle-shaped tool in performing a robot-assisted tracing task. On a virtual simulation of the tool and neuroArm robot, human participants manipulated a hand controller to move the tool attached to the end-effector of the robot. They used the tool to trace a line on pipes (mimicking blood vessels) along 3 orthogonal directions, corresponding to 3 DOF on the hand controller. We observed that force feedback from each DOF on the hand controller had a significant effect on the motion accuracy of the tool during tracing. Varying force conditions yielded insignificant difference in motion accuracy. These results indicate a need of revising the hand controller for achieving improved motion accuracy in performing robot-assisted tasks.
authors.affiliation: Dept. of Electrical and Computer Engineering (ECE), University of Calgary (U of C), AB, CANADA. mdsamad@ucalgary.ca
authors.forename: Manar D
authors.initials: MD
authors.lastname: Samad
authors.forename: Yaoping
authors.initials: Y
authors.lastname: Hu
authors.forename: Garnette R
authors.initials: GR
authors.lastname: Sutherland
mesh_terms: D000328:Adult; D000465:Algorithms; D004867:Equipment Design; D005246:Feedback; D006801:Humans; D009038:Motion; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D012984:Software; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D014584:User-Computer Interface; D014785:Vision, Ocular