Effect of force feedback from each DOF on the motion accuracy of a surgical tool in performing a robot-assisted tracing task

In robot-assisted surgery, it may be important to provide force feedback to the hand of the surgeon. Here we examine how force feedback from each degree of freedom (DOF) on a hand controller affects the motion accuracy of a surgical tool. We studied the motion accuracy of a needle-shaped tool in performing a robot-assisted tracing task. On a virtual simulation of the tool and neuroArm robot, human participants manipulated a hand controller to move the tool attached to the end-effector of the robot. They used the tool to trace a line on pipes (mimicking blood vessels) along 3 orthogonal directions, corresponding to 3 DOF on the hand controller. We observed that force feedback from each DOF on the hand controller had a significant effect on the motion accuracy of the tool during tracing. Varying force conditions yielded insignificant difference in motion accuracy. These results indicate a need of revising the hand controller for achieving improved motion accuracy in performing robot-assisted tasks.