Human-computer interfaces for interaction with surgical tools in robotic surgery

C. Staub, S. Can, B. Jensen, A. Knoll, S. Kohlbecher

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

21 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Pages81-86
Number of pages6
DOIs
StatePublished - 2012
Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy
Duration: 24 Jun 201227 Jun 2012

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)2155-1774

Conference

Conference2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Country/TerritoryItaly
CityRome
Period24/06/1227/06/12

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