title: Perceptually Docked Control Environment for Multiple Microbots: Application to the Gastric Wall Biopsy.
abstract: This paper presents a human-robot interface with perceptual docking to allow for the control of multiple microbots. The aim is to demonstrate that real-time eye tracking can be used for empowering robots with human vision by using knowledge acquiredin situ. Several micro-robots can be directly controlled through a combination of manual and eye control. The novel control environment is demonstrated on a virtual biopsy of gastric lesion through an endoluminal approach. Twenty-one subjects were recruited to test the control environment. Statistical analysis was conducted on the completion time of the task using the keyboard control and the proposed eye tracking framework. System integration with the concept of perceptual docking framework demonstrated statistically significant improvement of task execution.
authors.affiliation: Institute of Biomedical Engineering, Imperial College London, UK, Tel: +44 (0) 20 7594 8358; fax: +44 (0) 20 7581 8024; k.kwok07@imperial.ac.uk.
authors.forename: Ka Wai
authors.initials: KW
authors.lastname: Kwok
authors.affiliation: Institute of Biomedical Engineering, Imperial College London, UK.
authors.forename: Loi Wah
authors.initials: LW
authors.lastname: Sun
authors.affiliation: Institute of Biomedical Engineering, Imperial College London, UK.
authors.forename: Valentina
authors.initials: V
authors.lastname: Vitiello
authors.affiliation: Institute of Biomedical Engineering, Imperial College London, UK.
authors.forename: David R C
authors.initials: DR
authors.lastname: James
authors.affiliation: Institute of Biomedical Engineering, Imperial College London, UK.
authors.forename: George P
authors.initials: GP
authors.lastname: Mylonas
authors.affiliation: Department of Surgical Oncology and Technology, Imperial College London, UK, a.darzi@imperial.ac.uk.
authors.forename: Ara
authors.initials: A
authors.lastname: Darzi
authors.affiliation: Institute of Biomedical Engineering, Imperial College London, UK.
authors.forename: Guang-Zhong
authors.initials: GZ
authors.lastname: Yang
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