Pointing with a One-Eyed Cursor for Supervised Training in Minimally Invasive Robotic Surgery

Pointing in the endoscopic view of a surgical robot is a natural and efficient way for instructors to communicate with trainees in robot-assisted minimally invasive surgery. However, pointing in a stereo-endoscopic view can be limited by problems such as video delay, double vision, arm fatigue, and reachability of the pointer controls. We address these problems by hardware-based overlaying the stereo-endoscopic view with a one-eyed cursor, which can be comfortably controlled by a wireless, gyroscopic air mouse. The proposed system was positively evaluated by five experienced instructors in four full-day training units in robot-assisted minimally invasive surgery on anaesthetised pigs.

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