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Surgical robots offer the exciting potential for remote telesurgery, butadvances are needed to make this technology efficient and accurate to ensurepatient safety. Achieving these goals is hindered by the deleterious effects oflatency between the remote operator and the bedside robot. Predictive displayshave found success in overcoming these effects by giving the operator immediatevisual feedback. However, previously developed predictive displays can not bedirectly applied to telesurgery due to the unique challenges in tracking the 3Dgeometry of the surgical environment. In this paper, we present the firstpredictive display for teleoperated surgical robots. The predicted display isstereoscopic, utilizes Augmented Reality (AR) to show the predicted motionsalongside the complex tissue found in-situ within surgical environments, andovercomes the challenges in accurately tracking slave-tools in real-time. Wecall this a Stereoscopic AR Predictive Display (SARPD). To test the SARPD'sperformance, we conducted a user study with ten participants on the daVinci\textregistered{} Surgical System. The results showed with statisticalsignificance that using SARPD decreased time to complete task while having noeffect on error rates when operating under delay.

Augmented Reality Predictive Displays to Help Mitigate the Effects of Delayed Telesurgery