An Augmented Reality Measurement Tool for the da Vinci Research Kit

Abstract

We present an augmented reality surgical robotics console for the da Vinci Research Kit (dVRK) that integrates a real-time distance measurement tool to enhance spatial awareness during robotic-assisted surgical procedures through an interactive system. The system integrates an RViz-based interface with ROS topics, enabling virtual cursor visualization and interactive controls for precise measurements on tissue or phantom models. It supports two distinct measurement approaches: (1) a virtual measurement capability, where the operator uses the two Master Tool Manipulators (MTMs) to drive virtual 3D measurement cursors in the stereo display (a “masters as mice” mode), and (2) a physical measurement tool, where the user teleoperates one or more Patient Side Manipulators (PSMs) to touch two features and report the intervening distance. We conduct a user study on virtual (MTM) and teleoperation (PSM) modes to assess performance and accuracy and gather user feedback. The results show a Root Mean Square Error (RMSE) of 2.19 mm to 7.25 mm across different modes and tasks. This work underscores the importance of such systems for enhancing accuracy and usability in endoscopic surgery, where spatial awareness and intraoperative assessment are critical. Code is available at https://github.com/capricieuxV/RVinci_ISMR2025.git.