Sun, QiaoZareinia, KouroshNg, Canaan2018-01-252018-01-252018-01-24Ng, 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/5425http://hdl.handle.net/1880/106344In 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.engUniversity 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.RoboticsNeurosurgeryHapticsBiomedicalMechanical DesignEducation--SciencesMedicine and SurgeryEngineeringEngineering--MechanicalRoboticsmaster thesis10.11575/PRISM/5425