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@inproceedings{Vrielink:2019:10.1109/IROS.2018.8594426,
author = {Vrielink, TJCO and Puyal, JG-B and Kogkas, A and Darzi, A and Mylonas, G},
doi = {10.1109/IROS.2018.8594426},
pages = {1776--1782},
publisher = {IEEE},
title = {Intuitive gaze-control of a robotized flexible endoscope},
url = {http://dx.doi.org/10.1109/IROS.2018.8594426},
year = {2019}
}
TY - CPAPER
AB - 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.
AU - Vrielink,TJCO
AU - Puyal,JG-B
AU - Kogkas,A
AU - Darzi,A
AU - Mylonas,G
DO - 10.1109/IROS.2018.8594426
EP - 1782
PB - IEEE
PY - 2019///
SN - 2153-0858
SP - 1776
TI - Intuitive gaze-control of a robotized flexible endoscope
UR - http://dx.doi.org/10.1109/IROS.2018.8594426
UR - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000458872701129&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR - http://hdl.handle.net/10044/1/85574
ER -
