Browsing by Author "Ng, Canaan"

Now showing 1 - 1 of 1
  • Thumbnail Image
    ItemOpen Access
    Evaluation Metrics for Haptic Hand Controllers used in Robotic Neurosurgery Considering User Preference
    (2018-01-24) Ng, Canaan; Sun, Qiao; Zareinia, Kourosh; Enns, Van; Ghasemloonia, Ahmad; Radmanesh, Ahmad
    In robot assisted surgery, haptic hand controllers are used as an interface between the human oper- ator and a robot manipulator operating on the patient. A well designed haptic hand controller gives users the confidence by allowing the operator to maneuver with ease. There is a desire to translate qualitative preferences to quantifiable design considerations for a hand controller. A teleoperated task related to neurosurgery with three groups of participants and four 6 DOF commercial hand controllers was conducted. Quantitative performance metrics in terms of user effort, motion smoothness, and workspace was evaluated along with qualitative data from questionnaire response. Results provided insights for future designs. A new method for controlling actuation and feedback for bipolar forceps was prototyped and showed improved perception of stiffness and confidence in a user based psychometric experiment. This showed the feasibility and benefits of having the actual tool as part of the hand controller.