Arbitrary Viewpoint Robotic Surgery to Maintain Hand-Tool Alignment with Live 3D Imaging¶
Live intraoperative 3D imaging unlocks new viewpoints for surgeons but quickly causes disorientation if surgeons’ hand and viewed tool motions become misaligned. We proposed the Arbitrary Viewpoint Robotic Surgery (AVRS) concept which introduces a robotic surgery system between surgeons’ hands and tools to ensure that hand and viewed tool motions remain aligned. We built an AVRS-enabled testbed system with mock surgical tasks and demonstrated in a human subjects study that arbitrary viewpoints do not improve task performance unless hand and tool motions remain aligned. This result has implications for modern robotic surgery systems that employ intraoperative 3D imaging.
M. Draelos, B. Keller, C. Toth, A. Kuo, K. Hauser, and J. Izatt. Teleoperating robots from arbitrary viewpoints in surgical contexts. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2549–2555. Sept 2017. 45% acceptance rate. doi:10.1109/IROS.2017.8206076.
Videos¶
This video demonstrates our testbed system and illustrates the tasks performed in our human subjects study.
References¶
M. Draelos, K. Hauser, A. Kuo, B. Keller, and J. Izatt. Systems and methods for arbitrary viewpoint robotic manipulation and robotic surgical assistance. US Patent 10,888,389 B2. 2021
M. Draelos, B. Keller, C. Toth, A. Kuo, K. Hauser, and J. Izatt. Teleoperating robots from arbitrary viewpoints in surgical contexts. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2549–2555. Sept 2017. 45% acceptance rate. doi:10.1109/IROS.2017.8206076.