Dynamic augmented reality for sensory substitution in robot-assisted surgical systems.

Takintope Akinbiyi, Carol E. Reiley, Sunipa Saha, Darius Burschka, Christopher J. Hasser, David D. Yuh, Allison M. Okamura

Research output: Contribution to journalArticle

Abstract

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.

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Augmented reality
Substitution reactions
Robots
Minimally Invasive Surgical Procedures
Touch
Robotics
Biomechanical Phenomena
Sutures
Feedback
Hand
Technology
Surgery
Kinematics
Visualization
Display devices
Surgeons

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Biomedical Engineering
  • Health Informatics

Cite this

Dynamic augmented reality for sensory substitution in robot-assisted surgical systems. / Akinbiyi, Takintope; Reiley, Carol E.; Saha, Sunipa; Burschka, Darius; Hasser, Christopher J.; Yuh, David D.; Okamura, Allison M.

In: Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, 2006, p. 567-570.

Research output: Contribution to journalArticle

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