Authors:
J. M. Azorín
1
;
J. M. Sabater
1
;
N. García
1
;
F. J. Martínez
1
;
L. Navarro
1
and
R. J. Saltarén
2
Affiliations:
1
Universidad Miguel Hernández, Spain
;
2
DISAM, ETSII, Universidad Politécnica de Madrid, Spain
Keyword(s):
Haptic interfaces, robot-assisted surgery, telesurgery, surgical simulation.
Related
Ontology
Subjects/Areas/Topics:
Human-Robots Interfaces
;
Informatics in Control, Automation and Robotics
;
Robotics and Automation
;
Telerobotics and Teleoperation
;
Virtual Environment, Virtual and Augmented Reality
Abstract:
This paper presents a comparative of different non-specific haptic interfaces that could be used for robot-assisted surgery. The purpose of this analysis is to determine which master interface has the best performance for a specific task in which the master-slave scale factor is less than one. Three haptic interfaces have been considered: two commercial masters, one with serial configuration, the PHANToM 1.5 prototype master, and one with spherical setup, the Microsoft Force Feedback 2 Sidewinder; and other one non commercial with a parallel architecture designed in our laboratory, the Magister-P. Two experiments performed to measure the fidelity of the haptic interfaces have been described and the results obtained have been discussed on this paper.