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

Surgical robotics used in remote surgery presents operability challenges caused by differences in embodiment. Operators often use both hands simultaneously, with disparities between the dominant and non-dominant hands affecting control. This study explores key factors contributing to improved control, considering differences in hand dominance. In the experiments, we measured suturing errors, task completion time, and brain activity while seven right-handed participants manipulated a virtual surgical simulator. Motion scaling and viscosity resistance coefficients of the controllers were used as four design variables (two for each hand). We constructed quadratic regression models. Contribution analyses revealed lateral asymmetry in brain activity, with left brain activity influenced by right motion scaling and right brain activity affected by left viscosity resistance. This reflects the difference in prioritizing accuracy or speed based on hand dominance.Clinical Relevance-This paper presents quantitative findings regarding the influence of hand dominance on the operability of left and right surgical robotics controllers.