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Teleoperating robots from arbitrary viewpoints in surgical contexts

Publication ,  Conference
Draelos, M; Keller, B; Toth, C; Kuo, A; Hauser, K; Izatt, J
Published in: IEEE International Conference on Intelligent Robots and Systems
December 13, 2017

Intraoperative 3D imaging has great potential for enhancing surgical visualization. This is especially so in ophthalmic surgery where live volumetric imaging from optical coherence tomography systems recently incorporated into surgical microscopes has freed surgeons from the otherwise universal top-down viewpoint. New viewpoints, however, disorient surgeons when directions of their hand motions and viewed tool motions do not align. We propose introducing a robotic surgery system to decouple surgeons' hands from their tools and ensure that viewed tool motions align in arbitrary viewpoints. We present a framework entitled Arbitrary Viewpoint Robotic Manipulation (AVRM) which governs how hand and tool motions should interact to minimize disorientation and thereby enable operations from desirable but previously untenable viewpoints. A crossover study in which 20 subjects completed mock surgical scenarios with an AVRM testbed system demonstrated that arbitrary viewpoints do not improve task performance unless automatic hand-tool misalignment correction is provided. When provided together with arbitrary viewpoints, automatic hand-tool misalignment correction reduces task completion time by 50% on average compared to a fixed top-down viewpoint.

Duke Scholars

Published In

IEEE International Conference on Intelligent Robots and Systems

DOI

EISSN

2153-0866

ISSN

2153-0858

ISBN

9781538626825

Publication Date

December 13, 2017

Volume

2017-September

Start / End Page

2549 / 2555
 

Citation

APA
Chicago
ICMJE
MLA
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Draelos, M., Keller, B., Toth, C., Kuo, A., Hauser, K., & Izatt, J. (2017). Teleoperating robots from arbitrary viewpoints in surgical contexts. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2017-September, pp. 2549–2555). https://doi.org/10.1109/IROS.2017.8206076
Draelos, M., B. Keller, C. Toth, A. Kuo, K. Hauser, and J. Izatt. “Teleoperating robots from arbitrary viewpoints in surgical contexts.” In IEEE International Conference on Intelligent Robots and Systems, 2017-September:2549–55, 2017. https://doi.org/10.1109/IROS.2017.8206076.
Draelos M, Keller B, Toth C, Kuo A, Hauser K, Izatt J. Teleoperating robots from arbitrary viewpoints in surgical contexts. In: IEEE International Conference on Intelligent Robots and Systems. 2017. p. 2549–55.
Draelos, M., et al. “Teleoperating robots from arbitrary viewpoints in surgical contexts.” IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, 2017, pp. 2549–55. Scopus, doi:10.1109/IROS.2017.8206076.
Draelos M, Keller B, Toth C, Kuo A, Hauser K, Izatt J. Teleoperating robots from arbitrary viewpoints in surgical contexts. IEEE International Conference on Intelligent Robots and Systems. 2017. p. 2549–2555.

Published In

IEEE International Conference on Intelligent Robots and Systems

DOI

EISSN

2153-0866

ISSN

2153-0858

ISBN

9781538626825

Publication Date

December 13, 2017

Volume

2017-September

Start / End Page

2549 / 2555