title: Gaze Contingent Cartesian Control of a Robotic Arm for Laparoscopic Surgery.
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.
authors.affiliation: Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, London, UK.
authors.forename: Kenko
authors.initials: K
authors.lastname: Fujii
authors.affiliation: Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, London, UK.
authors.forename: Antonino
authors.initials: A
authors.lastname: Salerno
authors.affiliation: Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, London, UK.
authors.forename: Kumuthan
authors.initials: K
authors.lastname: Sriskandarajah
authors.affiliation: Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, London, UK.
authors.forename: Ka-Wai
authors.initials: KW
authors.lastname: Kwok
authors.affiliation: Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, London, UK.
authors.forename: Kunal
authors.initials: K
authors.lastname: Shetty
authors.affiliation: Hamlyn Centre for Robotic Surgery, Imperial College London, SW7 2AZ, London, UK.
authors.forename: Guang-Zhong
authors.initials: GZ
authors.lastname: Yang
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