Human-Centered Transparency of Grasping via a Robot-Assisted Minimally Invasive Surgery System.

In this paper, we investigate the grasping of rigid objects in a unilateral robot-assisted minimally invasive surgery (RAMIS). We define a human-centered transparency that quantifies the natural action and perception in RAMIS. We demonstrate this human-centered transparency analysis for different values of gripper scaling-the scaling between the grasp aperture of the surgeon-side manipulator and t...