Analysis of Gripping Force on a Master Controller During Simulated Robotic Surgery.

Although robotic surgery can improve ergonomics, strain in the hand and wrist is commonly reported. We evaluated gripping force differences between novice and expert surgeons while performing a da Vinci surgical simulator task. By attaching two force sensors to both master controllers, the average gripping force (AF) and maximum gripping force (MF) were evaluated. Participants (11 experts and 10 novices) performed the Suture sponge 1 task. Almost all AF and MF in the dominant hand of experts were significantly smaller than those of novices. Mean gripping force with the dominant hand was correlated with the number of missed targets ( = 0.63,  = 0.002). Experts applied softer gripping force with the dominant hand than novices. Increased AF in the dominant hand was associated with more missed targets. These results may support learners to relax while performing robotic surgical procedures.