Human-centered transparency of grasping via a robot-assisted minimally invasive surgery system

TL;DR

This study introduces a human-centered transparency framework for RAMIS, analyzing how different gripper scaling settings affect the naturalness of grasping and perception during teleoperation, with implications for improving system usability.

Contribution

It defines and demonstrates a human-centered transparency analysis for RAMIS, linking gripper scaling to natural action and perception, and suggests optimization for better usability.

Findings

Normal and quick gripper scaling conditions yielded natural grasping behavior.

Fine scaling did not produce human-centered transparency.

Psychophysical analysis correlates grasping variability with perceived object size.

Abstract

We investigate grasping of rigid objects in unilateral robot-assisted minimally invasive surgery (RAMIS) in this paper. We define a human-centered transparency that quantifies natural action and perception in RAMIS. We demonstrate this human-centered transparency analysis for different values of gripper scaling - the scaling between the grasp aperture of the surgeon-side manipulator and the aperture of the surgical instrument grasper. Thirty-one participants performed teleoperated grasping and perceptual assessment of rigid objects in one of three gripper scaling conditions (fine, normal, and quick, trading off precision and responsiveness). Psychophysical analysis of the variability of maximal grasping aperture during prehension and of the reported size of the object revealed that in normal and quick (but not in the fine) gripper scaling conditions, teleoperated grasping with our system was similar to natural grasping, and therefore, human-centered transparent. We anticipate that using motor control and psychophysics for human-centered optimizing of teleoperation control will eventually improve the usability of RAMIS.