Interactive 3D Cutaway Visualization for Subsurface Target Localization in Robot-Assisted Surgery

Abstract

Purpose: Blended augmented reality (AR) overlays can provide ambiguous depth cues in which subsurface anatomy floats above the tissue surface. We investigate whether an interactive 3D cutaway visualization can improve robot-assisted target localization. Methods: We propose Virtual Box, an interactive 3D cutaway interface that allows users to independently manipulate the viewing perspective to inspect subsurface targets. In a controlled, counterbalanced within-subject tissue phantom study, 15 engineering students used Virtual Box and a depth-enhanced blended AR overlay to position a da Vinci instrument at virtual targets in a water tank. We used registered 3D transrectal ultrasound to measure 3D localization error and depth error. We also collected completion time and subjective ratings. Results: Virtual Box reduced mean 3D error from 12.92 to 4.96 mm (61.6% reduction) and depth error from 9.48 to 2.07 mm (78.2% reduction; both p < 0.001). Spatial understanding, depth perception, and confidence ratings were higher (all unadjusted p < 0.001), but completion time increased from 21.64 to 32.58 s (p = 0.008). Overall workload did not differ significantly. Conclusion: Virtual Box improved localization accuracy and perceived spatial understanding in this controlled task, with additional completion time, supporting further evaluation for surgical navigation.