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- Publisher Website: 10.1109/IROS.2013.6696867
- Scopus: eid_2-s2.0-84893751876
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Conference Paper: Gaze contingent cartesian control of a robotic arm for laparoscopic surgery
Title | Gaze contingent cartesian control of a robotic arm for laparoscopic surgery |
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Authors | |
Issue Date | 2013 |
Citation | IEEE International Conference on Intelligent Robots and Systems, 2013, p. 3582-3589 How to Cite? |
Abstract | This 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 Identifier | http://hdl.handle.net/10722/199938 |
ISSN | 2023 SCImago Journal Rankings: 1.094 |
DC Field | Value | Language |
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dc.contributor.author | Fujii, Kenko | - |
dc.contributor.author | Salerno, Antonino | - |
dc.contributor.author | Sriskandarajah, Kumuthan | - |
dc.contributor.author | Kwok, Kawai | - |
dc.contributor.author | Shetty, Kunal | - |
dc.contributor.author | Yang, Guangzhong | - |
dc.date.accessioned | 2014-07-26T23:10:56Z | - |
dc.date.available | 2014-07-26T23:10:56Z | - |
dc.date.issued | 2013 | - |
dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 2013, p. 3582-3589 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | http://hdl.handle.net/10722/199938 | - |
dc.description.abstract | This 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.language | eng | - |
dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
dc.title | Gaze contingent cartesian control of a robotic arm for laparoscopic surgery | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/IROS.2013.6696867 | - |
dc.identifier.scopus | eid_2-s2.0-84893751876 | - |
dc.identifier.spage | 3582 | - |
dc.identifier.epage | 3589 | - |
dc.identifier.eissn | 2153-0866 | - |
dc.identifier.issnl | 2153-0858 | - |