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Unintentional plan deviations can result in long-term functional damage to the patient. With on-site teleoperation, the surgeon operates a slave robot with a physically-decoupled master device, while being directly present at the operation site. This allows the surgeon to perform surgical tasks with robotic accuracy, while always remaining in the control loop.\n<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Methods<\/jats:title>\n                <jats:p>In this study the master- and slave-side accuracy of an on-site teleoperated miniature cooperative robot (minaroHD) is evaluated. Master-side accuracy is investigated in a user study regarding scale factor, target feed rate, movement direction and haptic guidance stiffness. Scale factors are chosen to correspond to primarily finger, hand, and arm movements. Slave-side accuracy is investigated in autonomous milling trials regarding stepover, feed rate, movement direction, and material density.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Results<\/jats:title>\n                <jats:p>Master-side user input errors increase with increasing target feed rate and scale factor, and decrease with increasing haptic guidance stiffness. Resulting slave-side errors decrease with increasing scale factor and are\u2009&lt;\u20090.07\u00a0mm for optimal guidance parameters. Slave-side robot position errors correlate with the feed rate but show little correlation with stepover distance. For optimal milling parameters, the 95th percentile of tracked slave-side position error is 0.086\u00a0mm with a maximal error of 0.16\u00a0mm.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Conclusion<\/jats:title>\n                <jats:p>For optimal guidance and milling parameters, the combined error of 0.23\u00a0mm is in the range of the dura mater thickness (&lt;\u20090.27\u00a0mm) or mandibular canal wall (~\u20090.85\u00a0mm). This corresponds to safety margins in high-demand surgical procedures like craniotomies, laminectomies, or decortication of the jaw. However, for further clinical translation, the performance and usability of on-site teleoperated milling must be further evaluated for real-life clinical application examples with consideration of all error sources in a computer-assisted surgery workflow.<\/jats:p>\n              <\/jats:sec>","DOI":"10.1007\/s11548-023-02983-2","type":"journal-article","created":{"date-parts":[[2023,7,16]],"date-time":"2023-07-16T09:02:07Z","timestamp":1689498127000},"page":"1969-1976","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Accuracy of on-site teleoperated milling with haptic assistance"],"prefix":"10.1007","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9616-8673","authenticated-orcid":false,"given":"Sergey","family":"Drobinsky","sequence":"first","affiliation":[]},{"given":"Mat\u00edas","family":"de la Fuente","sequence":"additional","affiliation":[]},{"given":"Behrus","family":"Puladi","sequence":"additional","affiliation":[]},{"given":"Klaus","family":"Radermacher","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,7,16]]},"reference":[{"issue":"9","key":"2983_CR1","doi-asserted-by":"publisher","first-page":"773","DOI":"10.1016\/j.ijsu.2013.07.001","volume":"11","author":"H Sadideen","year":"2013","unstructured":"Sadideen H, Alvand A, Saadeddin M, Kneebone R (2013) Surgical experts: born or made? 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