Evaluation Metrics for Haptic Hand Controllers used in Robotic Neurosurgery Considering User Preference

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dc.contributor.advisorSun, Qiao
dc.contributor.advisorZareinia, Kourosh
dc.contributor.authorNg, Canaan
dc.contributor.committeememberEnns, Van
dc.contributor.committeememberGhasemloonia, Ahmad
dc.contributor.committeememberRadmanesh, Ahmad
dc.date2018-02
dc.date.accessioned2018-01-25T19:23:23Z
dc.date.available2018-01-25T19:23:23Z
dc.date.issued2018-01-24
dc.description.abstractIn 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.en_US
dc.identifier.citationNg, C. (2018). Evaluation Metrics for Haptic Hand Controllers used in Robotic Neurosurgery Considering User Preference (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/5425en_US
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/5425
dc.identifier.urihttp://hdl.handle.net/1880/106344
dc.language.isoeng
dc.publisher.facultyGraduate Studies
dc.publisher.facultySchulich School of Engineering
dc.publisher.institutionUniversity of Calgaryen
dc.publisher.placeCalgaryen
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.subjectRobotics
dc.subjectNeurosurgery
dc.subjectHaptics
dc.subjectBiomedical
dc.subjectMechanical Design
dc.subject.classificationEducation--Sciencesen_US
dc.subject.classificationMedicine and Surgeryen_US
dc.subject.classificationEngineeringen_US
dc.subject.classificationEngineering--Mechanicalen_US
dc.subject.classificationRoboticsen_US
dc.titleEvaluation Metrics for Haptic Hand Controllers used in Robotic Neurosurgery Considering User Preference
dc.typemaster thesis
thesis.degree.disciplineMechanical and Manufacturing Engineering
thesis.degree.grantorUniversity of Calgary
thesis.degree.nameMaster of Science (MSc)
ucalgary.item.requestcopytrue
ucalgary.thesis.checklistI confirm that I have submitted all of the required forms to Faculty of Graduate Studies.en_US
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