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. 2024 Apr 23;14:9264. doi: 10.1038/s41598-024-59338-3

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© The Author(s) 2024

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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The foot interface design details: (a) FI overlook view shown on the monitor to the users. Two red markers are used for foot position/rotation tracking and an IMU sensor is used for ankle pitch tracking. (b) Foot map of decoupled control, local coordinates are shown in purple. Colour blocks are not shown to the surgeons. (c) Foot map of hybrid control. (d) Six foot basic commands: Moving forward/backward; left/right and bidirectional ankle pitch. (e) Laparoscopic view shown on the monitor to the users. The concentric circle mask is only used in the target aiming task.