title: Dynamic augmented reality for sensory substitution in robot-assisted surgical systems.
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.
authors.affiliation: Engineering Research Center for Computer Integrated Surgical Systems and Technology, Johns Hopkins University, Baltimore, MD 21218, USA. tope@jhu.edu
authors.forename: Takintope
authors.initials: T
authors.lastname: Akinbiyi
authors.forename: Carol E
authors.initials: CE
authors.lastname: Reiley
authors.forename: Sunipa
authors.initials: S
authors.lastname: Saha
authors.forename: Darius
authors.initials: D
authors.lastname: Burschka
authors.forename: Christopher J
authors.initials: CJ
authors.lastname: Hasser
authors.forename: David D
authors.initials: DD
authors.lastname: Yuh
authors.forename: Allison M
authors.initials: AM
authors.lastname: Okamura
mesh_terms: D003196:Computer Graphics; D003198:Computer Simulation; D021621:Imaging, Three-Dimensional / Q000379:methods*; D008962:Models, Theoretical; D012371:Robotics / Q000379:methods*; D025321:Surgery, Computer-Assisted / Q000379:methods*; D013536:Suture Techniques; D014110:Touch; D014584:User-Computer Interface