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Conference Paper: Gaze contingent cartesian control of a robotic arm for laparoscopic surgery

TitleGaze contingent cartesian control of a robotic arm for laparoscopic surgery
Authors
Issue Date2013
Citation
IEEE International Conference on Intelligent Robots and Systems, 2013, p. 3582-3589 How to Cite?
AbstractThis paper introduces a gaze contingent controlled robotic arm for laparoscopic surgery, based on gaze gestures. The method offers a natural and seamless communication channel between the surgeon and the robotic laparoscope. It offers several advantages in terms of reducing on-screen clutter and efficiently conveying visual intention. The proposed hands-free system enables the surgeon to be part of the robot control feedback loop, allowing user-friendly camera panning and zooming. The proposed platform avoids the limitations of using dwell-time camera control in previous gaze contingent camera control methods. The system represents a true hands-free setup without the need of obtrusive sensors mounted on the surgeon or the use of a foot pedal. Hidden Markov Models (HMMs) were used for real-time gaze gesture recognition. This method was evaluated with a cohort of 11 subjects by using the proposed system to complete a modified upper gastrointestinal staging laparoscopy and biopsy task on a phantom box trainer, with results demonstrating the potential clinical value of the proposed system. © 2013 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/199938
ISSN

 

DC FieldValueLanguage
dc.contributor.authorFujii, Kenko-
dc.contributor.authorSalerno, Antonino-
dc.contributor.authorSriskandarajah, Kumuthan-
dc.contributor.authorKwok, Kawai-
dc.contributor.authorShetty, Kunal-
dc.contributor.authorYang, Guangzhong-
dc.date.accessioned2014-07-26T23:10:56Z-
dc.date.available2014-07-26T23:10:56Z-
dc.date.issued2013-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 2013, p. 3582-3589-
dc.identifier.issn2153-0858-
dc.identifier.urihttp://hdl.handle.net/10722/199938-
dc.description.abstractThis paper introduces a gaze contingent controlled robotic arm for laparoscopic surgery, based on gaze gestures. The method offers a natural and seamless communication channel between the surgeon and the robotic laparoscope. It offers several advantages in terms of reducing on-screen clutter and efficiently conveying visual intention. The proposed hands-free system enables the surgeon to be part of the robot control feedback loop, allowing user-friendly camera panning and zooming. The proposed platform avoids the limitations of using dwell-time camera control in previous gaze contingent camera control methods. The system represents a true hands-free setup without the need of obtrusive sensors mounted on the surgeon or the use of a foot pedal. Hidden Markov Models (HMMs) were used for real-time gaze gesture recognition. This method was evaluated with a cohort of 11 subjects by using the proposed system to complete a modified upper gastrointestinal staging laparoscopy and biopsy task on a phantom box trainer, with results demonstrating the potential clinical value of the proposed system. © 2013 IEEE.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleGaze contingent cartesian control of a robotic arm for laparoscopic surgery-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/IROS.2013.6696867-
dc.identifier.scopuseid_2-s2.0-84893751876-
dc.identifier.spage3582-
dc.identifier.epage3589-
dc.identifier.eissn2153-0866-

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