查看文章

This paper presents the experimental evaluation of three commercially available haptic hand‐controllers to evaluate which was more suitable to the participants.

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, HD² 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.

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.

Hand‐controllers with …