Evaluation of haptic devices and end‐users: Novel performance metrics in tele‐robotic microsurgery. Issue 4 (3rd April 2020)

• Record Type: Journal Article
• Authors: Hoshyarmanesh, Hamidreza; Zareinia, Kourosh; Lama, Sanju; Durante, Benjamin; Sutherland, Garnette R.
• Is Part Of: International journal of medical robotics and computer assisted surgery. Volume 16:Issue 4(2020)
• Page Start: n/a
• Page End: n/a
• Publication Date: 2020-04-03
• Subjects: haptic interface -- human performance evaluation -- human‐robot interaction -- microsurgery -- tele‐robotics; Robotics in medicine -- Periodicals; Surgery -- Technological innovations -- Periodicals; Imaging systems in medicine -- Periodicals; 617.90285
• DOI: 10.1002/rcs.2101
• Languages: English
• ISSNs: 1478-5951

Abstract

Abstract: Background: Here, we present performance evaluation methodology that distinguishes the performance of a haptic device from end‐user skill level in a tele‐robotic system. Methods: A pick‐&‐place experiment was designed and eight participants micromanipulated cotton strips, similar to maneuvers performed during microsurgery. Using three nonredundant haptic devices: neuroArmPLUS HD, a custom developed master manipulator, and two commercially available products, sigma.7 and HD 2, several features including the speed, effort, consistency, hand/gimbal agility, and force characteristics were measured and recorded for each participant and device. Results: The participants showed variable skill level. For consistency, hand/gimbal agility and force characteristics, they performed significantly better when using neuroArmPLUS HD prototype. Based on the experimental data, performance metrics for both the device and the end‐users were established. Conclusions: The integrated performance metrics allows independent evaluation of both the user and haptic device, thereby quantifying human‐machine interactions.