TY - GEN
T1 - Human-computer interfaces for interaction with surgical tools in robotic surgery
AU - Staub, C.
AU - Can, S.
AU - Jensen, B.
AU - Knoll, A.
AU - Kohlbecher, S.
PY - 2012
Y1 - 2012
N2 - The current trend toward robot assistants and the execution of autonomous tasks in minimally invasive surgery increases the operation complexity of telepresence systems. The available input channels are currently limited to traditional human-computer interfaces. We introduce two human-robot interfacing modalities that aim to make robotic surgery more intuitive. To reduce the surgeon's mental load, gaze-contingent camera control is implemented. Eye tracking is performed by means of head worn tracking goggles. The tracking goggles are tightly integrated with a stereoscopic visualization system, based on the polarization method. The second technique supports scrub nurses during surgical tool interaction, e.g. tool exchange, via haptic gestures executed on the robot. Strain-gauges sensors installed at the instrument are used to detect hand tapping sequences, which trigger activation of specified commands.
AB - The current trend toward robot assistants and the execution of autonomous tasks in minimally invasive surgery increases the operation complexity of telepresence systems. The available input channels are currently limited to traditional human-computer interfaces. We introduce two human-robot interfacing modalities that aim to make robotic surgery more intuitive. To reduce the surgeon's mental load, gaze-contingent camera control is implemented. Eye tracking is performed by means of head worn tracking goggles. The tracking goggles are tightly integrated with a stereoscopic visualization system, based on the polarization method. The second technique supports scrub nurses during surgical tool interaction, e.g. tool exchange, via haptic gestures executed on the robot. Strain-gauges sensors installed at the instrument are used to detect hand tapping sequences, which trigger activation of specified commands.
UR - http://www.scopus.com/inward/record.url?scp=84867421055&partnerID=8YFLogxK
U2 - 10.1109/BioRob.2012.6290850
DO - 10.1109/BioRob.2012.6290850
M3 - Conference contribution
AN - SCOPUS:84867421055
SN - 9781457711992
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 81
EP - 86
BT - 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
T2 - 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Y2 - 24 June 2012 through 27 June 2012
ER -