Kourosh Zareinia1, Yaser Maddahi1, Canaan Ng2, Nariman Sepehri3, Garnette R Sutherland1. 1. Project neuroArm, Department of Clinical Neuroscience and Hotchkiss Brain Institute, University of Calgary, AB, Canada. 2. Department of Mechanical Engineering, University of Calgary, AB, Canada. 3. Department of Mechanical Engineering, University of Manitoba, Winnipeg, MB, Canada.
Abstract
BACKGROUND: This paper presents the experimental evaluation of three commercially available haptic hand-controllers to evaluate which was more suitable to the participants. METHODS: Two 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 microscope. Sigma 7, HD(2) and PHANToM Premium 3.0 hand-controllers were compared. Ten measures were adopted to evaluate operators' performances with respect to effort, speed and accuracy in completing a task, operator improvement during the tests, and the force applied by each haptic device. RESULTS: The best performance was observed with the Premium 3.0; the hand-piece was able to be held in a similar way to that used by surgeons to hold conventional tools. CONCLUSIONS: Hand-controllers with a linkage structure similar to the human upper extremity take advantage of the inherent human brain connectome, resulting in improved surgeon performance during robotic-assisted surgery.
BACKGROUND: This paper presents the experimental evaluation of three commercially available haptic hand-controllers to evaluate which was more suitable to the participants. METHODS: Two 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 microscope. Sigma 7, HD(2) and PHANToM Premium 3.0 hand-controllers were compared. Ten measures were adopted to evaluate operators' performances with respect to effort, speed and accuracy in completing a task, operator improvement during the tests, and the force applied by each haptic device. RESULTS: The best performance was observed with the Premium 3.0; the hand-piece was able to be held in a similar way to that used by surgeons to hold conventional tools. CONCLUSIONS: Hand-controllers with a linkage structure similar to the human upper extremity take advantage of the inherent human brain connectome, resulting in improved surgeon performance during robotic-assisted surgery.
Authors: Yaser Maddahi; Kourosh Zareinia; Liu Shi Gan; Christina Sutherland; Sanju Lama; Garnette R Sutherland Journal: Biomed Res Int Date: 2016-05-24 Impact factor: 3.411