Stereoscopic Head-mounted Display Incorporated into Microsurgical Procedures: Technical Note

Levy, Michael L.; Chen, Joseph C.T.; Moffitt, Kirk; Corber, Ziv; McComb, J. Gordon

doi:10.1097/00006123-199808000-00141

Cited by 51 publications

(39 citation statements)

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“…Stereoscopic vision feedback can also provide more depth information on the robot's environment enabling the operator to interact with the objects in the environment more effectively, see [21] and [22]. The use of a head mount display (HMD) connected to stereo cameras can also improve the operator's 3D perception of the robot's environment and provide better agility and efficiency; see [23].…”

Section: Introductionmentioning

confidence: 99%

Immersive teleoperation of a robot arm using electro-tactile feedback

Pamungkas

Ward

2015

2015 6th International Conference on Automation, Robotics and Applications (ICARA)

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Abstract2015 IEEE. Teleoperation can allow an operator to control a robot remotely in inaccessible and hostile places. To achieve more dexterous control of a tele-operated robot some researchers are developing user interfaces equipped with vision and tactile feedback. 3D visual perception and tactile feedback can also assist the operator to feel immersed in the robot's environment and embodied within the robot to some extent. Most existing tactile feedback systems use electro-mechanical actuators and linkages. However, these systems are complex, cumbersome and consequently make it difficult for the operator feel embodied within the robot. To improve on these drawbacks, this paper introduces an immersive teleoperation system comprised of a 3D stereo vision head set combined with an electro-tactile feedback system. Our electro-tactile feedback system is compact, nonmechanical and versatile. Experimental results are provided which show how this form of immersive 3D perception and tactile feedback system can enable the user to achieve more dexterous control of a robot arm by enabling the operator to effectively see what robot sees and experience what the robot feels while performing work with the robot.

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Section: Introductionmentioning

confidence: 99%

Immersive teleoperation of a robot arm using electro-tactile feedback

Pamungkas

Ward

2015

2015 6th International Conference on Automation, Robotics and Applications (ICARA)

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“…Namun dengan menggunakan informasi ini operator mempunyai kesulitan untuk memperkirakan jarak antara robot dengan objek yang ada dihadapan robot. Ini diakibatkan informasi dua dimensi tidak mempunyai informasi mengenai kedalaman Beberapa peneliti telah meneliti beberapa metoda untuk mengatasi hal ini mengunakan kamera stereo [8,9] Namun diakibatkan mahalnya kamera stereo, maka penggunaan informasi visual menggunakan kamera stereo masih terbatas. Penelitian ini menawarkan solusi untuk permasalahan ini, dengan menggunakan kamera webcam yang dapat didapatkan dengan harga relatif ekonomis.…”

Section: Pendahuluanunclassified

Visualisasi 3Dimensi untuk Memperkaya Pengoperasian Jarak Jauh dengan Mengunakan Kamera Webcam

Pamungkas

Toar

2017

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AbstrakPada pengendalian robot jarak jauh, dibutuhkan informasi mengenai sekitar dari robot. Informasi ini membuat operator dapat mengendalikan robotnya dengan lebih baik. Informasi visual adalah informasi yang paling banyak digunakan oleh sistem pengoperasian robot jarak jauh. Informasi visual yang digunakan sebagian besar masih menggunakan informasi dua dimensi. Robot menggunakan sebuah kamera dan operator melihat informasi dari sebuah layar monitor. Hal ini memiliki kekurangan antara lain operator tidak mendapatkan efek kedalaman sehingga operator memiliki kesulitn untuk mengira jarak antara robot dan objek didepannya. Kekurangan ini dapat diselesaikan dengan menggunakan sistem visual tiga dimensi. Namun sistem ini membutuhkan kamera stereo yang tidak murah. Penelitian ini meneliti sebuah sistem yang mengunakan dua buah webcam yang terhubung dengan sebuah komputer, dan operator dapat merasakan sensasi 3 dimensi dengan menggunakan sebuah Virtual reality headset Kamera-kamera ini diletakan pada dua motor steper sehingga digerakan keatas-kebawah serta samping kiri dan kanan. Kemampuan gerak ini membuat operator mendapat informasi mengenai keadaan sekeliling dari robot. Motor-motor ini dikendalikan dari headset sehingga memudahkan operator. Sistem ini diharapkan dapat digunakan pada robot yang dikendalikan jarak jauh sehingga operator dapat mengoperasikan robot lebih baik lagi. Kata kunci: Teleoperation, webcam, tiga dimensi, headset AbstractTo control robot remotely, information about the surrounding of the robot is needed. With this information the operator can control the robot better. Visual information is information that is most widely used by the system to control robot remotely. The two-dimensional visual information is used mostly widely, which the robot using a regular camera and the operator view information on a monitor screen. This system has its drawbacks, for example, the operators do not get the depth effect, it makes the operator has difficulty to measure the distance between the robot and the object in front of the robot. This deficiency can be solved by using a three-dimensional visual system. However, this system requires a stereo camera is not cheap. This study investigated the use of two webcams are used on the computer. The system consists of two cameras webcam connected to a computer, and the operator can feel the sensation of three dimensions by using a virtual reality headset. These cameras are placed in two stepper motors which can move into two directions. This motion capabilities can make the operator gets information about the surroundings of the robot. These motors are controlled from the headset making it easier to control the motors. The system is expected to be used on a robot which controlled remotely so that the operator can operate the robot more agile.

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“…Although a number of researchers used this new technique with frames (37)(38)(39)(40), and techniques were developed to merge CT and plane film data (41), the availability of three-dimensional data coupled with a rapidly advancing computer field made new approaches possible. In the mid to late 1980s, a number of researchers began to develop systems that, although varying gready in implementation, shared a common revolutionary idea: track the surgical position in the physical space and display position in image space.…”

Section: Advent Of Image-guided Proceduresmentioning

confidence: 99%

Conference/Symposium - Medical Simulation and Image-Guided Surgery Special Sessions for the Society of Photo-Optical Instrumentation Engineers

Galloway¹,

.²

2001

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Stereoscopic Head-mounted Display Incorporated into Microsurgical Procedures: Technical Note

Cited by 51 publications

References 1 publication

Immersive teleoperation of a robot arm using electro-tactile feedback

Immersive teleoperation of a robot arm using electro-tactile feedback

Visualisasi 3Dimensi untuk Memperkaya Pengoperasian Jarak Jauh dengan Mengunakan Kamera Webcam

Conference/Symposium - Medical Simulation and Image-Guided Surgery Special Sessions for the Society of Photo-Optical Instrumentation Engineers

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