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Intuitive gaze-control of a robotized flexible endoscope

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Title: Intuitive gaze-control of a robotized flexible endoscope
Authors: Vrielink, TJCO
Puyal, JG-B
Kogkas, A
Darzi, A
Mylonas, G
Item 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.
Editors: 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
Issue Date: 7-Jan-2019
Date of Acceptance: 1-Oct-2018
URI: http://hdl.handle.net/10044/1/85574
DOI: 10.1109/IROS.2018.8594426
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/Funder: National Institute of Health Research
National Institute for Health Research
Funder's Grant Number: NF SI 061710038
Conference Name: 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Keywords: Science & Technology
Technology
Computer Science, Artificial Intelligence
Computer Science, Information Systems
Robotics
Computer Science
COLONOSCOPY
SYSTEM
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
Conference Place: Madrid, Spain
Online Publication Date: 2019-01-07
Appears in Collections:Department of Surgery and Cancer
Faculty of Medicine
Institute of Global Health Innovation