Paper Info
Title
Intuitive Gaze-Control Of A Robotized Flexible Endoscope
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.
Year
DOI
Venue
2018
10.1109/IROS.2018.8594426
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Endoscope,Step response,Computer vision,Gaze,Task analysis,Computer science,Endoscopy,Artificial intelligence,Visual servoing,Control system,Robot
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
5
Name
Order
Citations
PageRank
Timo J. C. Oude Vrielink111.10
J. Gonzalez-Bueno Puyal200.34
Alexandros Kogkas322.47
Ara Darzi449658.41
George P. Mylonas521222.01