Toward Intuitive Teleoperation in Surgery: Human-Centric Evaluation of Teleoperation Algorithms for Robotic Needle Steering

The effectiveness of control algorithms for teleoperated systems is typically evaluated through experimental performance measures, post-experimental user surveys, and theoretical analysis. However, none of these methods provide an objective assessment of teleoperation algorithms with respect to the real-time changes of human users during teleoperated tasks in terms of physiological, kinematic, or cognitive metrics. In this study, we recruited...