Intuitive gaze-control of a robotized flexible endoscope
File(s)
Accepted version
Author(s)
Vrielink, TJC Oude
Puyal, J Gonzalez-Bueno
Kogkas, A
Darzi, A
Mylonas, G
Type
Conference Paper
Abstract
Flexible endoscopy is a routinely performed procedure that has predominantly remained unchanged for decades despite its many challenges. This paper introduces a novel, more intuitive and ergonomic platform that can be used with any flexible endoscope, allowing easier navigation and manipulation. A standard endoscope is robotized and a gaze control system based on eye-tracking is developed and implemented, allowing hands-free manipulation. The system characteristics and step response has been evaluated using visual servoing. Further, the robotized system has been compared with a manually controlled endoscope during a user study. The users (n=11) showed a preference for the gaze controlled endoscope and a lower task load when the task was performed with the gaze control. In addition, gaze control was related to a higher success rate and a lower time to perform the task. The results presented validate the system's technical performance and demonstrate the intuitiveness of hands-free gaze control in flexible endoscopy.
Editor(s)
Maciejewski, AA
Okamura, A
Bicchi, A
Stachniss, C
Song, DZ
Lee, DH
Chaumette, F
Ding, H
Li, JS
Wen, J
Roberts, J
Masamune, K
Chong, NY
Amato, N
Tsagwarakis, N
Rocco, P
Asfour, T
Chung, WK
Yasuyoshi, Y
Sun, Y
Maciekeski, T
Althoefer, K
AndradeCetto, J
Chung, WK
Demircan, E
Dias, J
Fraisse, P
Gross, R
Harada, H
Hasegawa, Y
Hayashibe, M
Kiguchi, K
Kim, K
Kroeger, T
Li, Y
Ma, S
Mochiyama, H
Monje, CA
Rekleitis, I
Roberts, R
Stulp, F
Tsai, CHD
Zollo, L
Date Issued
2019-01-07
Date Acceptance
2018-10-01
Citation
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, pp.1776-1782
ISSN
2153-0858
Publisher
IEEE
Start Page
1776
End Page
1782
Journal / Book Title
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Copyright Statement
© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor
National Institute of Health Research
National Institute for Health Research
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000458872701129&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Grant Number
NF SI 061710038
Source
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Subjects
Science & Technology
Technology
Computer Science, Artificial Intelligence
Computer Science, Information Systems
Robotics
Computer Science
COLONOSCOPY
SYSTEM
Publication Status
Published
Start Date
2018-10-01
Finish Date
2018-10-05
Coverage Spatial
Madrid, Spain
Date Publish Online
2019-01-07