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Article: Gaze-Contingent Motor Channelling, haptic constraints and associated cognitive demand for robotic MIS

TitleGaze-Contingent Motor Channelling, haptic constraints and associated cognitive demand for robotic MIS
Authors
KeywordsVirtual fixtures
Gaze-contingent control
Eye tracking
Minimally invasive surgery
Robotic surgery
Issue Date2012
Citation
Medical Image Analysis, 2012, v. 16, n. 3, p. 612-631 How to Cite?
AbstractThe success of MIS is coupled with an increasing demand on surgeons' manual dexterity and visuomotor coordination due to the complexity of instrument manipulations. The use of master-slave surgical robots has avoided many of the drawbacks of MIS, but at the same time, has increased the physical separation between the surgeon and the patient. Tissue deformation combined with restricted workspace and visibility of an already cluttered environment can raise critical issues related to surgical precision and safety. Reconnecting the essential visuomotor sensory feedback is important for the safe practice of robot-assisted MIS procedures. This paper introduces a novel gaze-contingent framework for real-time haptic feedback and virtual fixtures by transforming visual sensory information into physical constraints that can interact with the motor sensory channel. We demonstrate how motor tracking of deforming tissue can be made more effective and accurate through the concept of Gaze-Contingent Motor Channelling. The method is also extended to 3D by introducing the concept of Gaze-Contingent Haptic Constraints where eye gaze is used to dynamically prescribe and update safety boundaries during robot-assisted MIS without prior knowledge of the soft-tissue morphology. Initial validation results on both simulated and robot assisted phantom procedures demonstrate the potential clinical value of the technique. In order to assess the associated cognitive demand of the proposed concepts, functional Near-Infrared Spectroscopy is used and preliminary results are discussed. © 2010 Elsevier B.V.
Persistent Identifierhttp://hdl.handle.net/10722/199925
ISSN
2015 Impact Factor: 4.565
2015 SCImago Journal Rankings: 2.048
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorMylonas, George P.-
dc.contributor.authorKwok, Kawai-
dc.contributor.authorJames, David Rc C-
dc.contributor.authorLeff, Daniel Richard-
dc.contributor.authorOrihuela-Espina, Felipe-
dc.contributor.authorDarzi, Ara W.-
dc.contributor.authorYang, Guangzhong-
dc.date.accessioned2014-07-26T23:10:55Z-
dc.date.available2014-07-26T23:10:55Z-
dc.date.issued2012-
dc.identifier.citationMedical Image Analysis, 2012, v. 16, n. 3, p. 612-631-
dc.identifier.issn1361-8415-
dc.identifier.urihttp://hdl.handle.net/10722/199925-
dc.description.abstractThe success of MIS is coupled with an increasing demand on surgeons' manual dexterity and visuomotor coordination due to the complexity of instrument manipulations. The use of master-slave surgical robots has avoided many of the drawbacks of MIS, but at the same time, has increased the physical separation between the surgeon and the patient. Tissue deformation combined with restricted workspace and visibility of an already cluttered environment can raise critical issues related to surgical precision and safety. Reconnecting the essential visuomotor sensory feedback is important for the safe practice of robot-assisted MIS procedures. This paper introduces a novel gaze-contingent framework for real-time haptic feedback and virtual fixtures by transforming visual sensory information into physical constraints that can interact with the motor sensory channel. We demonstrate how motor tracking of deforming tissue can be made more effective and accurate through the concept of Gaze-Contingent Motor Channelling. The method is also extended to 3D by introducing the concept of Gaze-Contingent Haptic Constraints where eye gaze is used to dynamically prescribe and update safety boundaries during robot-assisted MIS without prior knowledge of the soft-tissue morphology. Initial validation results on both simulated and robot assisted phantom procedures demonstrate the potential clinical value of the technique. In order to assess the associated cognitive demand of the proposed concepts, functional Near-Infrared Spectroscopy is used and preliminary results are discussed. © 2010 Elsevier B.V.-
dc.languageeng-
dc.relation.ispartofMedical Image Analysis-
dc.subjectVirtual fixtures-
dc.subjectGaze-contingent control-
dc.subjectEye tracking-
dc.subjectMinimally invasive surgery-
dc.subjectRobotic surgery-
dc.titleGaze-Contingent Motor Channelling, haptic constraints and associated cognitive demand for robotic MIS-
dc.typeArticle-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1016/j.media.2010.07.007-
dc.identifier.pmid20889367-
dc.identifier.scopuseid_2-s2.0-84858071678-
dc.identifier.volume16-
dc.identifier.issue3-
dc.identifier.spage612-
dc.identifier.epage631-
dc.identifier.eissn1361-8423-
dc.identifier.isiWOS:000302434300006-

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