Seeing and feeling in robot-assisted surgery (Conference Presentation)

Allison Okamura

doi:10.1117/12.2657574

3 April 2023 Seeing and feeling in robot-assisted surgery (Conference Presentation)

Allison Okamura

Proceedings Volume 12466, Medical Imaging 2023: Image-Guided Procedures, Robotic Interventions, and Modeling; 1246618 (2023) https://doi.org/10.1117/12.2657574
Event: SPIE Medical Imaging, 2023, San Diego, California, United States

Abstract

Haptic devices allow touch-based information transfer between humans and their environment. In minimally invasive surgery, a human teleoperator benefits from both visual and haptic feedback regarding the interaction forces between instruments and tissues. In this talk, I will discuss mechanisms for stable and effective haptic feedback, as well as how surgeons and autonomous systems can use visual feedback in lieu of haptic feedback. For haptic feedback, we focus on skin deformation feedback, which provides compelling information about instrument-tissue interactions with smaller actuators and larger stability margins compared to traditional kinesthetic feedback. For visual feedback, we evaluate the effect of training on human teleoperators’ ability to visually estimate forces through a telesurgical robot. In addition, we design and characterize multimodal deep learning-based methods to estimate interaction forces during tissue manipulation for both automated performance evaluation and delivery of haptics-based training stimuli. Finally, we describe the next generation of soft, flexible surgical instruments and the opportunities and challenges they present for seeing and feeling in robot-assisted surgery.

Conference Presentation

Citation Download Citation

Allison Okamura "Seeing and feeling in robot-assisted surgery (Conference Presentation)", Proc. SPIE 12466, Medical Imaging 2023: Image-Guided Procedures, Robotic Interventions, and Modeling, 1246618 (3 April 2023); https://doi.org/10.1117/12.2657574

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