Dynamic Augmented Reality for Sensory Substitution in Robot-Assisted Surgical Systems

Dynamic Augmented Reality for Sensory Substitution in Robot-Assisted Surgical Systems

Teleoperated robot-assisted surgical systems provide surgeons with improved precision, dexterity, and visualization over traditional minimally invasive surgery. The addition of haptic (force and/or tactile) feedback has been proposed as a way to further enhance the performance of these systems. Howe...

Full description

Saved in:
Bibliographic Details
Published in:2006 International Conference of the IEEE Engineering in Medicine and Biology Society Vol. 2006; pp. 567 - 570
Main Authors: Akinbiyi, T., Reiley, C.E., Saha, S., Burschka, D., Hasser, C.J., Yuh, D.D., Okamura, A.M.
Format: Conference Proceeding Journal Article
Language:English
Published: United States IEEE 2006
Subjects:
Augmented reality
Computer Graphics
Computer Simulation
Force feedback
Force sensors
Haptic interfaces
Imaging, Three-Dimensional - methods
Instruments
Kinematics
Minimally invasive surgery
Models, Theoretical
Robot sensing systems
Robotics - methods
Surgery, Computer-Assisted - methods
Surges
Suture Techniques
Touch
User-Computer Interface
Visualization
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Teleoperated robot-assisted surgical systems provide surgeons with improved precision, dexterity, and visualization over traditional minimally invasive surgery. The addition of haptic (force and/or tactile) feedback has been proposed as a way to further enhance the performance of these systems. However, due to limitations in sensing and control technologies, implementing direct haptic feedback to the surgeon's hands remains impractical for clinical application. A new, intuitive augmented reality system for presentation of force information through sensory substitution has been developed and evaluated. The augmented reality system consists of force-sensing robotic instruments, a kinematic tool tracker, and a graphic display that overlays a visual representation of force levels on top of the moving instrument tips. The system is integrated with the da Vinci Surgical System (Intuitive Surgical, Inc.) and tested by several users in a phantom knot tying task. The augmented reality system decreases the number of broken sutures, decreases the number of loose knots, and results in more consistent application of forces
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
ISBN:9781424400324
1424400325
ISSN:1557-170X
DOI:10.1109/IEMBS.2006.259707