  Surgical robots offer the exciting potential for remote telesurgery, but
advances are needed to make this technology efficient and accurate to ensure
patient safety. Achieving these goals is hindered by the deleterious effects of
latency between the remote operator and the bedside robot. Predictive displays
have found success in overcoming these effects by giving the operator immediate
visual feedback. However, previously developed predictive displays can not be
directly applied to telesurgery due to the unique challenges in tracking the 3D
geometry of the surgical environment. In this paper, we present the first
predictive display for teleoperated surgical robots. The predicted display is
stereoscopic, utilizes Augmented Reality (AR) to show the predicted motions
alongside the complex tissue found in-situ within surgical environments, and
overcomes the challenges in accurately tracking slave-tools in real-time. We
call this a Stereoscopic AR Predictive Display (SARPD). To test the SARPD's
performance, we conducted a user study with ten participants on the da
Vinci\textregistered{} Surgical System. The results showed with statistical
significance that using SARPD decreased time to complete task while having no
effect on error rates when operating under delay.
