Paper Info
Title
Gaze-Contingent Motor Channelling, haptic constraints and associated cognitive demand for robotic MIS
Abstract
The success of MIS is coupled with an increasing demand on surgeons’ manual dexterity and visuomotor coordination due to the complexity of instrument manipulations. The use of master–slave surgical robots has avoided many of the drawbacks of MIS, but at the same time, has increased the physical separation between the surgeon and the patient. Tissue deformation combined with restricted workspace and visibility of an already cluttered environment can raise critical issues related to surgical precision and safety. Reconnecting the essential visuomotor sensory feedback is important for the safe practice of robot-assisted MIS procedures. This paper introduces a novel gaze-contingent framework for real-time haptic feedback and virtual fixtures by transforming visual sensory information into physical constraints that can interact with the motor sensory channel. We demonstrate how motor tracking of deforming tissue can be made more effective and accurate through the concept of Gaze-Contingent Motor Channelling. The method is also extended to 3D by introducing the concept of Gaze-Contingent Haptic Constraints where eye gaze is used to dynamically prescribe and update safety boundaries during robot-assisted MIS without prior knowledge of the soft-tissue morphology. Initial validation results on both simulated and robot assisted phantom procedures demonstrate the potential clinical value of the technique. In order to assess the associated cognitive demand of the proposed concepts, functional Near-Infrared Spectroscopy is used and preliminary results are discussed.
Year
DOI
Venue
2012
10.1016/j.media.2010.07.007
Medical Image Analysis
Keywords
Field
DocType
Robotic surgery,Minimally invasive surgery,Eye tracking,Gaze-contingent control,Virtual fixtures
Computer vision,Visibility,Gaze,Workspace,Simulation,Robotic surgery,Eye tracking,Artificial intelligence,Robot,Cognition,Mathematics,Haptic technology
Journal
Volume
Issue
ISSN
16
3
1361-8415
Citations 
PageRank 
References 
7
0.48
15
Authors
7
Name
Order
Citations
PageRank
George P. Mylonas121222.01
Ka Wai Kwok216727.10
David R. C. James3121.63
Daniel Leff470.48
Felipe Orihuela-Espina510115.78
Ara Darzi649658.41
Guang-Zhong Yang72812297.66