Collaborative gaze channelling for improved cooperation during robotic assisted surgery.

Annals of Biomedical Engineering
Ka-Wai KwokGuang-Zhong Yang

Abstract

The use of multiple robots for performing complex tasks is becoming a common practice for many robot applications. When different operators are involved, effective cooperation with anticipated manoeuvres is important for seamless, synergistic control of all the end-effectors. In this paper, the concept of Collaborative Gaze Channelling (CGC) is presented for improved control of surgical robots for a shared task. Through eye tracking, the fixations of each operator are monitored and presented in a shared surgical workspace. CGC permits remote or physically separated collaborators to share their intention by visualising the eye gaze of their counterparts, and thus recovers, to a certain extent, the information of mutual intent that we rely upon in a vis-à-vis working setting. In this study, the efficiency of surgical manipulation with and without CGC for controlling a pair of bimanual surgical robots is evaluated by analysing the level of coordination of two independent operators. Fitts' law is used to compare the quality of movement with or without CGC. A total of 40 subjects have been recruited for this study and the results show that the proposed CGC framework exhibits significant improvement (p < 0.05) on all the motion indic...Continue Reading

References

Mar 29, 2001·Psychological Science·Z M Griffin, K Bock
Sep 28, 2001·Nature·J MarescauxM K Smith
Sep 29, 2006·Journal of Laparoendoscopic & Advanced Surgical Techniques. Part a·Eric J HanlyMichael R Marohn
Jun 27, 2007·Psychological Bulletin·Alexandra FrischenSteven P Tipper
Nov 2, 2007·Psychonomic Bulletin & Review·Laura E Thomas, Alejandro Lleras
Jun 22, 2010·Annals of Surgery·Lee RichstoneLouis R Kavoussi
Oct 5, 2010·Medical Image Analysis·George P MylonasGuang-Zhong Yang
Jan 20, 2012·Surgical Endoscopy·Andrew S A ChetwoodGuang-Zhong Yang

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Citations

Nov 4, 2015·Frontiers in Human Neuroscience·Daniel R LeffGuang-Zhong Yang
Apr 12, 2017·International Journal of Computer Assisted Radiology and Surgery·Alexandros A KogkasGeorge P Mylonas
Apr 1, 2021·International Journal of Computer Assisted Radiology and Surgery·Hon-Sing TongKa-Wai Kwok
Apr 28, 2021·Surgical Endoscopy·Martin WagnerB P Müller-Stich
May 19, 2020··Adithya BalasubramanyamPavan Kumar B. N.

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