3D ultrasound in robotic surgery: performance evaluation with stereo displays.
BACKGROUND
The recent advent of real-time 3D ultrasound (3DUS) imaging enables a variety of new surgical procedures. These procedures are hampered by the difficulty of manipulating tissue guided by the distorted, low-resolution 3DUS images. To lessen the effects of these limitations, we investigated stereo displays and surgical robots for 3DUS-guided procedures.


METHODS
By integrating real-time stereo rendering of 3DUS with the binocular display of a surgical robot, we compared stereo-displayed 3DUS with normally displayed 3DUS. To test the efficacy of stereo-displayed 3DUS, eight surgeons and eight non-surgeons performed in vitro tasks with the surgical robot.


RESULTS
Error rates dropped by 50% with a stereo display. In addition, subjects completed tasks faster with the stereo-displayed 3DUS as compared to normal-displayed 3DUS. A 28% decrease in task time was seen across all subjects.


CONCLUSIONS
The results highlight the importance of using a stereo display. By reducing errors and increasing speed, it is an important enhancement to 3DUS-guided robotics procedures.
Novotny
Paul M
PM
Division of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138, USA.
Jacobsen
Stephen K
SK
Vasilyev
Nikolay V
NV
Kettler
Daniel T
DT
Salgo
Ivan S
IS
Dupont
Pierre E
PE
Del Nido
Pedro J
PJ
Howe
Robert D
RD
D003626:Data Display; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000379:methods*; D011361:Professional Competence; D012371:Robotics / Q000379:methods*; D025321:Surgery, Computer-Assisted / Q000379:methods*; D013647:Task Performance and Analysis; D018084:Ultrasonography, Interventional / Q000379:methods*; D014584:User-Computer Interface