title: Preliminary design of an actuated imaging probe for generation of additional visual cues in a robotic surgery.
abstract: The aim of this study was to enhance the visual feedback of surgeons, during robotic surgeries, by designing and developing an actuated 2D imaging probe, which is used in conjunction with the traditional stereoscopic camera of the da Vinci surgical system. The probe provides the surgeon with additional visual cues, overcoming visualization constraints encountered during certain scenarios of robot-assisted minimally invasive surgery.
  
  
  
  The actuated imaging probe is implemented as a master-slave tele-manipulated system, and it is designed to be compatible with the da Vinci surgical system. The detachable probe design enables it to be mounted on any of the EndoWrist(®) instruments of the robot and is controlled by the surgeon using a custom-made pedal system. The image from the 2D probe is rendered along with the stereoscopic view on the surgeon's console.
  
  
  
  The experimental results demonstrate the effectiveness of the proposed actuated imaging probe when used as an additional visualization channel and in surgical scenarios presenting visual problems due to tissue occlusion.
  
  
  
  The study shows the potential benefits of an additional actuated imaging probe when used in conjunction with traditional surgical instruments to perform surgical tasks requiring visualization from multiple orientations and workspaces.
authors.affiliation: Department of Mechanical and Industrial Engineering, Qatar University, Doha, Qatar. carlos.a.velasquez@ieee.org.|Medical Research Division, Hamad Medical Corporation, Doha, Qatar. carlos.a.velasquez@ieee.org.
authors.forename: Carlos A
authors.initials: CA
authors.lastname: Velasquez
authors.affiliation: Qatar Robotic Surgery Centre, Qatar Science and Technology Park, Doha, Qatar.
authors.forename: Nikhil V
authors.initials: NV
authors.lastname: Navkar
authors.affiliation: Pediatric Department, Hamad Medical Corporation, Doha, Qatar.
authors.forename: Amer
authors.initials: A
authors.lastname: Alsaied
authors.affiliation: Qatar Robotic Surgery Centre, Qatar Science and Technology Park, Doha, Qatar.
authors.forename: Shidin
authors.initials: S
authors.lastname: Balakrishnan
authors.affiliation: Qatar Robotic Surgery Centre, Qatar Science and Technology Park, Doha, Qatar.
authors.forename: Julien
authors.initials: J
authors.lastname: Abinahed
authors.affiliation: Urology Department, Hamad Medical Corporation, Doha, Qatar.
authors.forename: Abdulla A
authors.initials: AA
authors.lastname: Al-Ansari
authors.affiliation: Department of Mechanical and Industrial Engineering, Qatar University, Doha, Qatar.|Mechanical Engineering, School of STEM, University of Washington, Bothell, WA, USA.
authors.forename: W
authors.initials: W
authors.lastname: Jong Yoon
mesh_terms: D003867:Depth Perception; D004867:Equipment Design; D005246:Feedback; D006801:Humans; D059032:Learning Curve; D065287:Robotic Surgical Procedures / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*
keywords: Computing; Human; Imaging; Instruments; Robotic; Surgical; Technical; VR