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In laparoscopic surgery, the long rigid instrument increases the trembling of the surgeon's hands 1. To smooth the motion, an assisted robotic arm can be used to apply a viscous force to the instrument to filter out the tremor 2. The position at which the viscous control is used could have a different effect on the surgeon's performance due to the lever effect. We designed a series of experiments to investigate and compare the performance of controllers in different positions.
Dong et al. (Sat,) studied this question.