A microsurgery-specific haptic interface with articulated structure, possessing 3 active, 4 passive and 3 supplementary degrees of freedom (DOFs), was designed and developed. The system includes a 3-DOF active serial linkage design, mimicking the human upper extremity. It is combined with a microsurgery-specific end-effector, comprised of a 3-DOF passive gimbal mechanism and a 1-DOF passive exchangeable surgical toolset. The spherical gimbal workspace twinned with the larger linkage arm workspace allow accurate and delicate movements to maneuver the surgical tool in narrow corridors, corresponding to conventional surgery. The structural design of the device is based on kinematic performance measures aimed to enhance ergonomics and mitigate training limitations of novice end-users. A supplementary 3-DOF adjustable base further improved ergonomics for end-users of different sizes. Force feedback was provided to improve safety, i.e. avoidance of force errors in execution of surgical tasks. This haptic interface provides high positional and output force resolution (0.92–1.46 mm in Cartesian coordinate system and 0.2 N, respectively), wide range of allowable force (up to 15 N), high global manipulability (0.77), global isotropy (0.68) and stiffness (2.3 N/mm). The work, indeed, introduces a novel kinematic performance index, Dexterous Conditioning Index (DCI), based on the volume of dexterous workspace, correlating to ease of use and decreased singularity. Accordingly, the proposed haptic device demonstrates a high level of accuracy, haptic feedback, dexterous workspace, and performance, ideal for implementation in robot-assisted microsurgery.

设计并开发了具有关节结构的显微外科专用触觉界面，该界面具有3个主动，4个被动和3个补充自由度（DOF）。该系统包括一个3自由度主动串行链接设计，可模仿人类上肢。它与显微外科手术专用的末端执行器结合在一起，该末端执行器由一个3-DOF被动万向架机构和一个1-DOF被动可互换外科工具集组成。球形万向节工作空间与较大的连杆臂工作空间缠绕在一起，可进行精确而精致的运动，从而在狭窄的走廊中操纵手术工具，这与常规手术相对应。该设备的结构设计基于运动学性能指标，旨在增强人体工程学并减轻新手最终用户的培训限制。补充的3-DOF可调节底座进一步改善了针对不同尺寸最终用户的人体工程学。提供了力反馈以提高安全性，即避免在执行外科手术任务时出现力错误。该触觉界面可提供较高的位置和输出力分辨率（在笛卡尔坐标系中分别为0.92-1.46 mm和0.2 N），宽范围的允许力（最大15 N），高全局可操纵性（0.77），全局各向同性（0.68）和刚度（2.3 N / mm）。的确，这项工作引入了一种新颖的运动性能指标，即灵巧条件指数（DCI），它基于灵巧工作区的体积，与易用性和奇异性降低相关。因此，拟议的触觉设备展示出高水平的准确性，触觉反馈，灵巧的工作空间和性能，