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Authors = Luke A. Reisner

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14 pages, 4675 KiB  
Article
Remote Presence: Development and Usability Evaluation of a Head-Mounted Display for Camera Control on the da Vinci Surgical System
by Tareq Dardona, Shahab Eslamian, Luke A. Reisner and Abhilash Pandya
Robotics 2019, 8(2), 31; https://doi.org/10.3390/robotics8020031 - 19 Apr 2019
Cited by 24 | Viewed by 9122
Abstract
This paper describes the development of a new method to control the camera arm of a surgical robot and create a better sense of remote presence for the surgeon. The current surgical systems are entirely controlled by the surgeon, using hand controllers and [...] Read more.
This paper describes the development of a new method to control the camera arm of a surgical robot and create a better sense of remote presence for the surgeon. The current surgical systems are entirely controlled by the surgeon, using hand controllers and foot pedals to manipulate either the instrument or the camera arms. The surgeon must pause the operation to move the camera arm to obtain a desired view and then resume the operation. The camera and tools cannot be moved simultaneously, leading to interrupted and unnatural movements. These interruptions can lead to medical errors and extended operation times. In our system, the surgeon controls the camera arm by his natural head movements while being immersed in a 3D-stereo view of the scene with a head-mounted display (HMD). The novel approach enables the camera arm to be maneuvered based on sensors of the HMD. We implemented this method on a da Vinci Standard Surgical System using the HTC Vive headset along with the Unity engine and the Robot Operating System framework. This paper includes the result of a subjective six-participant usability study that compares the workload of the traditional clutched camera control method against the HMD-based control. Initial results indicate that the system is usable, stable, and has a lower physical and mental workload when using the HMD control method. Full article
(This article belongs to the Special Issue Medical Robotics: Advances in Training, Ergonomics, Sensing, Control and Other Areas)
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17 pages, 5600 KiB  
Article
A Robotic Recording and Playback Platform for Training Surgeons and Learning Autonomous Behaviors Using the da Vinci Surgical System
by Abhilash Pandya, Shahab Eslamian, Hao Ying, Matthew Nokleby and Luke A. Reisner
Robotics 2019, 8(1), 9; https://doi.org/10.3390/robotics8010009 - 6 Feb 2019
Cited by 17 | Viewed by 11795
Abstract
This paper describes a recording and playback system developed using a da Vinci Standard Surgical System and research kit. The system records stereo laparoscopic videos, robot arm joint angles, and surgeon–console interactions in a synchronized manner. A user can then, on-demand and at [...] Read more.
This paper describes a recording and playback system developed using a da Vinci Standard Surgical System and research kit. The system records stereo laparoscopic videos, robot arm joint angles, and surgeon–console interactions in a synchronized manner. A user can then, on-demand and at adjustable speeds, watch stereo videos and feel recorded movements on the hand controllers of entire procedures or sub procedures. Currently, there is no reported comprehensive ability to capture expert surgeon movements and insights and reproduce them on hardware directly. This system has important applications in several areas: (1) training of surgeons, (2) collection of learning data for the development of advanced control algorithms and intelligent autonomous behaviors, and (3) use as a “black box” for retrospective error analysis. We show a prototype of such an immersive system on a clinically-relevant platform along with its recording and playback fidelity. Lastly, we convey possible research avenues to create better systems for training and assisting robotic surgeons. Full article
(This article belongs to the Special Issue Medical Robotics: Advances in Training, Ergonomics, Sensing, Control and Other Areas)
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20 pages, 342 KiB  
Review
A Review of Camera Viewpoint Automation in Robotic and Laparoscopic Surgery
by Abhilash Pandya, Luke A. Reisner, Brady King, Nathan Lucas, Anthony Composto, Michael Klein and Richard Darin Ellis
Robotics 2014, 3(3), 310-329; https://doi.org/10.3390/robotics3030310 - 14 Aug 2014
Cited by 67 | Viewed by 16651
Abstract
Complex teleoperative tasks, such as surgery, generally require human control. However, teleoperating a robot using indirect visual information poses many technical challenges because the user is expected to control the movement(s) of the camera(s) in addition to the robot’s arms and other elements. [...] Read more.
Complex teleoperative tasks, such as surgery, generally require human control. However, teleoperating a robot using indirect visual information poses many technical challenges because the user is expected to control the movement(s) of the camera(s) in addition to the robot’s arms and other elements. For humans, camera positioning is difficult, error-prone, and a drain on the user’s available resources and attention. This paper reviews the state of the art of autonomous camera control with a focus on surgical applications. We also propose potential avenues of research in this field that will support the transition from direct slaved control to truly autonomous robotic camera systems. Full article
(This article belongs to the Special Issue Medical Robotics and Systems)
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