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Conference Paper: Gaze-contingent motor channelling and haptic constraints for minimally invasive robotic surgery

TitleGaze-contingent motor channelling and haptic constraints for minimally invasive robotic surgery
Authors
KeywordsGaze-contingent control
Robotic surgery
Eye tracking
Haptic constraints
Human robot interaction
Virtual fixtures
Visuomotor fusion
Issue Date2008
Citation
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2008, v. 5242 LNCS, n. PART 2, p. 676-683 How to Cite?
AbstractThe use of master-slave surgical robots for Minimally Invasive Surgery (MIS) has created a physical separation between the surgeon and the patient. Reconnecting the essential visuomotor sensory feedback is important for the safe practice of robotic assisted MIS procedures. This paper introduces a novel gaze contingent framework with real-time haptic feedback 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 also uses 3D eye gaze to dynamically prescribe and update safety boundaries during robotic assisted MIS without prior knowledge of the soft-tissue morphology. Initial validation results on both simulated and robotic assisted phantom procedures demonstrate the potential clinical value of the technique. © 2008 Springer Berlin Heidelberg.
Persistent Identifierhttp://hdl.handle.net/10722/199971
ISSN
2005 Impact Factor: 0.402
2015 SCImago Journal Rankings: 0.252

 

DC FieldValueLanguage
dc.contributor.authorMylonas, George P.-
dc.contributor.authorKwok, Kawai-
dc.contributor.authorDarzi, Ara W.-
dc.contributor.authorYang, Guangzhong-
dc.date.accessioned2014-07-26T23:10:58Z-
dc.date.available2014-07-26T23:10:58Z-
dc.date.issued2008-
dc.identifier.citationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2008, v. 5242 LNCS, n. PART 2, p. 676-683-
dc.identifier.issn0302-9743-
dc.identifier.urihttp://hdl.handle.net/10722/199971-
dc.description.abstractThe use of master-slave surgical robots for Minimally Invasive Surgery (MIS) has created a physical separation between the surgeon and the patient. Reconnecting the essential visuomotor sensory feedback is important for the safe practice of robotic assisted MIS procedures. This paper introduces a novel gaze contingent framework with real-time haptic feedback 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 also uses 3D eye gaze to dynamically prescribe and update safety boundaries during robotic assisted MIS without prior knowledge of the soft-tissue morphology. Initial validation results on both simulated and robotic assisted phantom procedures demonstrate the potential clinical value of the technique. © 2008 Springer Berlin Heidelberg.-
dc.languageeng-
dc.relation.ispartofLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)-
dc.subjectGaze-contingent control-
dc.subjectRobotic surgery-
dc.subjectEye tracking-
dc.subjectHaptic constraints-
dc.subjectHuman robot interaction-
dc.subjectVirtual fixtures-
dc.subjectVisuomotor fusion-
dc.titleGaze-contingent motor channelling and haptic constraints for minimally invasive robotic surgery-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1007/978-3-540-85990-1-81-
dc.identifier.scopuseid_2-s2.0-58849111336-
dc.identifier.volume5242 LNCS-
dc.identifier.issuePART 2-
dc.identifier.spage676-
dc.identifier.epage683-
dc.identifier.eissn1611-3349-

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