Contribution Analysis of Controller Systems in Surgical Robotics Operations Considering the Dominant and Non-dominant...

Area of Science:

• Robotics
• Human-Computer Interaction
• Neuroscience

Background:

• Surgical robotics in remote surgery faces operability challenges due to embodiment differences.
• Hand dominance disparities between dominant and non-dominant hands affect precise control during surgery.

Purpose of the Study:

• To explore key factors for improved control in surgical robotics, specifically considering hand dominance.
• To quantify the influence of hand dominance on the operability of surgical robotic controllers.

Main Methods:

• Seven right-handed participants performed suturing tasks on a virtual surgical simulator.
• Motion scaling and viscosity resistance coefficients were manipulated as design variables for both hands.
• Suturing errors, task completion time, and brain activity were measured and analyzed using quadratic regression models.

Main Results:

• Quadratic regression models were constructed to analyze the impact of controller variables.
• Contribution analyses revealed lateral asymmetry in brain activity, linking left brain activity to right hand motion scaling and right brain activity to left hand viscosity resistance.
• Findings indicate a difference in prioritizing accuracy versus speed based on hand dominance.

Conclusions:

• Hand dominance plays a crucial role in the operability of surgical robotic controllers.
• Quantitative findings highlight the influence of lateral asymmetry in brain activity on control strategies.
• Optimizing controller parameters based on hand dominance can enhance surgical robot performance.