The nanomanipulator: a virtual-reality interface for a scanning tunneling microscope
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Technologies for augmented reality systems: realizing ultrasound-guided needle biopsies
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
An Image Overlay System with Enhanced Reality for Percutaneous Therapy Performed Inside CT Scanner
MICCAI '02 Proceedings of the 5th International Conference on Medical Image Computing and Computer-Assisted Intervention-Part II
The Varioscope AR - A Head-Monted Operating Microscope for Augmented Reality
MICCAI '00 Proceedings of the Third International Conference on Medical Image Computing and Computer-Assisted Intervention
Tomographic Reflection to Merge Ultrasound Images with Direct Vision
AIPR '00 Proceedings of the 29th Applied Imagery Pattern Recognition Workshop
Spatial input/display correspondence in a stereoscopic computer graphic work station
SIGGRAPH '83 Proceedings of the 10th annual conference on Computer graphics and interactive techniques
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ISAR '01 Proceedings of the IEEE and ACM International Symposium on Augmented Reality (ISAR'01)
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ISAR '01 Proceedings of the IEEE and ACM International Symposium on Augmented Reality (ISAR'01)
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Computer Animation and Virtual Worlds
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EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part II
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Scaled teleoperation is increasingly prevalent in medicine, as well as in other applications of robotics. Visual feedback in such systems is essential and should make maximal use of natural hand-eye coordination. This paper describes a new method of visual feedback for scaled teleoperation in which the operator manipulates the handle of a remote tool in the presence of a registered virtual image of the target in real time. The method adapts a concept already used successfully in a new medical device called the Sonic Flashlight, which permits direct in situ visualization of ultrasound during invasive procedures. The Sonic Flashlight uses a flat-panel monitor and a half-silvered mirror to merge the visual outer surface of a patient with a simultaneous ultrasound scan of the patient's interior. Adapting the concept to scaled teleoperation involves removing the imaging device and the target to a remote location and adding a master-slave control device. This permits the operator to see his hands, along with what appears to be the tool, and the target, merged in a workspace that preserves natural hand-eye coordination. Three functioning prototypes are described, one based on ultrasound and two on light microscopy. The limitations and potential of the new approach are discussed.