Augmented Reality-based Robot Control for Laparoscopic Surgery

Minimally invasive surgery is the standard formany abdominal interventions, with an increasing use of tele-manipulated robots. As collaborative robots enter the field ofmedical interventions, their intuitive control needs to be ad-dressed. Augmented reality can thereby support a surgeonby representing the surgical scene in a natural way. In thiswork, an augmented reality based robot control for laparo-scopic cholecystectomy is presented. A user can interact withthe virtual scene to clip the cystic duct and artery as well asto manipulate the deformable gallbladder. An evaluation wasperformed based on the SurgTLX and system usability scale.