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In robot-assisted surgery, haptic devices as hand controllers play an important role in the surgeon's ability of manipulating tissues. Most research activities have focused on providing force feedback as haptic information. Considering a circular tracing task, we presented two models of torque feedback. On a Virtual Reality simulator of neuroArm, a robotic system for microscopic neurosurgery, we investigated the suitability of these models for rendering torque feedback of each rotational degree-of-freedom. Without sacrificing translational and rotational motion ranges, we verified that the device PHANToM Premium 1.5/6DOF is adequate as a hand controller of neuroArm to replace the modified version of PHANToM Premium 1.5 interfacing originally with neuroArm. Using the device PHANToM Premium 1.5/6DOF, our preliminary results yielded a suitability of both models of torque feedback for performing a circular tracing task assisted by neuroArm.

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