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: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publication28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06
Pages567-570
Number of pages4
DOIs
StatePublished - 2006
Event28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06 - New York, NY, United States
Duration: Aug 30 2006Sep 3 2006

Publication series

NameAnnual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings
ISSN (Print)0589-1019

Other

Other28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'06
CountryUnited States
CityNew York, NY
Period8/30/069/3/06

ASJC Scopus subject areas

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

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