Intuitive surgeon-robot-interface to control macro-robots hands-on

In this master thesis, we want to find out what it takes for a user-interface to control macro-robots in an operating room intuitively. Typically, robots are rigid and not safe to work with humans. Thanks to several technological developments, e.g., the introduction of lightweight robots and force/torque sensors, in the past years, humans can now work safely hand in hand with robots, which comes with the many advantages of a robot, e.g., precision and repeatability. In a preliminary discussion with orthopedic surgeons, we learned that there is a need for macro-robots in the operating room and suggest that hands-on control could bene t medicine for various applications. Unfortunately, there are only a few hands-on controlled robots on the market. Therefore no investigations on designing an prototyped three di erent user-interfaces. In a user study, we compared the prototypes qualitatively with the help of a questionnaire. Quantitatively, we compared the time needed to complete the task, the accuracy, and the forces applied to the handle. Conclusively we can say that a user-interface aligned with the tool seems most intuitive for the participants. However, some design adjustments must be made, and the study suggests that the used controller and interface combination is not suitable for small and subtle movements.