TY - GEN
T1 - Dynamic augmented reality for sensory substitution in robot-assisted surgical systems
AU - Akinbiyi, Takintope
AU - Reiley, Carol E.
AU - Saha, Sunipa
AU - Burschka, Darius
AU - Hasser, Christopher J.
AU - Yuh, David D.
AU - Okamura, Allison M.
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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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U2 - 10.1109/IEMBS.2006.259707
DO - 10.1109/IEMBS.2006.259707
M3 - Conference contribution
C2 - 17945986
AN - SCOPUS:34047138988
SN - 1424400325
SN - 9781424400324
T3 - Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings
SP - 567
EP - 570
BT - 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06
T2 - 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06
Y2 - 30 August 2006 through 3 September 2006
ER -