Abstract
The use of master-slave surgical robots for Minimally Invasive Surgery (MIS) has created a physical separation between the surgeon and the patient. Reconnecting the essential visuomotor sensory feedback is important for the safe practice of robotic assisted MIS procedures. This paper introduces a novel gaze contingent framework with real-time haptic feedback 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 also uses 3D eye gaze to dynamically prescribe and update safety boundaries during robotic assisted MIS without prior knowledge of the soft-tissue morphology. Initial validation results on both simulated and robotic assisted phantom procedures demonstrate the potential clinical value of the technique.
Chapter PDF
Similar content being viewed by others
Keywords
References
Wimmer-Greinecker, G., Deschka, H., Aybek, T., Mierdl, S., Moritz, A., Dogan, S.: Current status of robotically assisted coronary revascularization. Am. J. Surg. 188(4A Suppl.), 76S-82S (2004)
Mylonas, G.P., Stoyanov, D., Darzi, D., Yang, G.-Z.: Visual assessment of Gaze-Contingent Motion Stabilization for Minimally Invasive Robotic Surgery: A study of perceptual quality. In: Ayache, N., Ourselin, S., Maeder, A. (eds.) MICCAI 2007, Part II. LNCS, vol. 4792, pp. 660–667. Springer, Heidelberg (2007)
Rosenberg, L.B.: Virtual fixtures: Perceptual Tools for Telerobotic Manipulation. In: Proc. IEEE Virtual Reality Annual Intl. Symposium, pp. 76–82 (1993)
Park, S., Howe, R.D., Torchiana, D.F.: Virtual Fixtures for Robotic Cardiac Surgery. In: Niessen, W.J., Viergever, M.A. (eds.) MICCAI 2001. LNCS, vol. 2208, pp. 1419–1420. Springer, Heidelberg (2001)
Yang, G.-Z., Dempere-Marco, L., Hu, X.P., Rowe, A.: Visual search: psychophysical models and practical applications. Image and Vision Computing 20, 291–305 (2002)
Tobii technology. User Manual (2003), http://www.tobii.se
Mylonas, G.P., Stoyanov, D., Deligianni, F., Darzi, A., Yang, G.-Z.: Gaze-Contingent Soft Tissue Deformation Tracking for Minimally Invasive Robotic Surgery. In: Duncan, J.S., Gerig, G. (eds.) MICCAI 2005. LNCS, vol. 3749, pp. 843–850. Springer, Heidelberg (2005)
Mylonas, G.P., Darzi, A., Yang, G.-Z.: Gaze Contingent Depth Recovery and Motion Stabilisation for Minimally Invasive Robotic Surgery. In: Yang, G.-Z., Jiang, T. (eds.) MIAR 2004. LNCS, vol. 3150, pp. 311–319. Springer, Heidelberg (2004)
Pelz, J., Hayhoe, M., Loeber, R., et al.: The coordination of eye, head, and hand movements in a natural task. Exp. Brain Res. 139, 266–277 (2001)
Leong, J., Atallah, L., Mylonas, G.P., Leff, D., Emery, R., Darzi, A., Yang, G.-Z.: Investigation of Partial Directed Coherence for Hand-Eye Coordination in Laparoscopic training. In: Dohi, T., Sakuma, I., Liao, H. (eds.) MIAR 2008. LNCS, vol. 5128, pp. 270–278 (2008)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Mylonas, G.P., Kwok, KW., Darzi, A., Yang, GZ. (2008). Gaze-Contingent Motor Channelling and Haptic Constraints for Minimally Invasive Robotic Surgery. In: Metaxas, D., Axel, L., Fichtinger, G., Székely, G. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2008. MICCAI 2008. Lecture Notes in Computer Science, vol 5242. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-85990-1_81
Download citation
DOI: https://doi.org/10.1007/978-3-540-85990-1_81
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-85989-5
Online ISBN: 978-3-540-85990-1
eBook Packages: Computer ScienceComputer Science (R0)