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Wires through tool shaft. Special “clamshell” cannulas. Strain gages. Tool End Effector. Augmented Reality for Haptic Display in Robot-Assisted Surgical Systems. TESTING

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augmented reality for haptic display in robot assisted surgical systems

Wires through tool shaft

Special “clamshell” cannulas

Strain gages

Tool End Effector

Augmented Reality for Haptic Display in Robot-Assisted Surgical Systems
  • TESTING
  • We will validate the system using ten subjects (surgeons and non surgeons with varying levels of experienced on the da Vinci) performing an instrument tie with and without the augmented reality system
  • We will compare performance with and without the augmented reality system.
  • All experiments performed at the Johns Hopkins Medical Institutions
  • THE PROBLEM
  • Tele-manipulated MIS robots do not include significant haptic (tactile or force) feedback
  • This lack of feedback is detrimental to performance of some surgical tasks
  • THE FUTURE
  • Comprehensive experiments with tasks that rely more heavily on force
  • Try different sensory substitution methods

Da Vinci Surgical System View from surgeon’s console

(Intuitive Surgical, Inc.)

  • PREVIOUS WORK
  • Experiments were conducted with visual and auditory feedback
  • Showed that sensory substitution of haptic information improves repeatability of applied suture forces and minimizes suture breakage
  • THE IMPACT
  • Develop an augmented reality system for visual sensory substitution of haptic information where forces are displayed to surgeons in an intuitive and accessible way.
  • Determine the effectiveness of forces displayed visually to the user using a tele-manipulation system.
  • 1) Inexpensive strain gauges added to lower shaft of micro-forceps tool of da Vinci Surgical System to measure bending forces. Using specialized cannulas to allow for strain gage wire.
  • 2) Orientation and position of tool end effector and endoscope are tracked using robot kinematics and used in computer vision for tool tracking.
  • 3) Superimpose a spherical overlay on each tool, whose colors change in response to the forces measured at tool tip. Overlays follow tool in real time.

Design of overlay that changes colors as forces are being applied and tracks instrument tips using kinematics tool tracker.

  • PEOPLE INVOLVED
  • Graduate Students: Takintope Akinbiyi, Carol Reiley, Sunipa Saha
  • Research Faculty: Darius Burschka
  • Principle Investigator: Allison M. Okamura
  • Clinicians: David Yuh
  • Industrial Collaboration: Christopher Hasser, Intuitive Surgical Inc.
  • REFERENCES
  • T. Akinbiyi, A. M. Okamura, D. D. Yuh, “Dynamic Augmented Reality for Haptic Display in Robot-Assisted Surgical Systems,” Medicine Meets Virtual Reality 13, J.D. Westwood, et al., IOS Press, pg. 33, 2005.
  • A. M. Okamura, “Methods for Haptic Feedback in Teleoperated Robot Assisted Surgery,” Industrial Robot, Vol. 31, No. 6., pp. 499-508, 2004.
  • SUPPORTED BY:
  • NSF EEC-9731478
  • Whitaker Foundation RG-02-911
  • NIH R01-EB002004

Engineering Research Center for Computer Integrated Surgical Systems and Technology

Two pairs of strain gauges in full bridge configuration to maximize sensitivity and measure bending forces are mounted on a da Vinci instrument