In this section
We use perceptual methods, AI, and frugal robotics innovation to deliver transformative diagnostic and treatment solutions.
The HARMS lab leverages perceptually enabled methodologies, artificial intelligence, and frugal innovation in robotics (such as soft surgical robots) to deliver transformative solutions for diagnosis and treatment. Our research is driven by both problem-solving and curiosity, aiming to build a comprehensive understanding of the actions, interactions, and reactions occurring in the operating room. We focus on using robotic technologies to facilitate procedures that are not yet widely adopted, particularly in endoluminal surgery, such as advanced treatments for gastrointestinal cancer.
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Dr George Mylonas BEng, MSc, DIC, PhD
Senior Lecturer in Robotics and Technology in Cancer
Dr Adrian Rubio Solis
Research Associate in Sensing and Machine Learning
@inproceedings{Mylonas:2005,
author = {Mylonas, G and Stoyanov, D and Deligianni, F and Darzi, A and Yang, G},
pages = {843--850},
title = {Gaze-contingent soft tissue deformation tracking for minimally invasive robotic surgery},
year = {2005}
}
TY - CPAPER
AB - The introduction of surgical robots in Minimally Invasive Surgery (MIS) has allowed enhanced manual dexterity through the use of microprocessor controlled mechanical wrists. Although fully autonomous robots are attractive, both ethical and legal barriers can prohibit their practical use in surgery. The purpose of this paper is to demonstrate that it is possible to use real-time binocular eye tracking for empowering robots with human vision by using knowledge acquired in situ. By utilizing the close relationship between the horizontal disparity and the depth perception varying with the viewing distance, it is possible to use ocular vergence for recovering 3D motion and deformation of the soft tissue during MIS procedures. Both phantom and in vivo experiments were carried out to assess the potential frequency limit of the system and its intrinsic depth recovery accuracy. The potential applications of the technique include motion stabilization and intra-operative planning in the presence of large tissue deformation.
AU - Mylonas,G
AU - Stoyanov,D
AU - Deligianni,F
AU - Darzi,A
AU - Yang,G
EP - 850
PY - 2005///
SP - 843
TI - Gaze-contingent soft tissue deformation tracking for minimally invasive robotic surgery
ER -
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