In this section

Human-Centred Automation, Robotics and Monitoring

We use perceptual methods, AI, and frugal robotics innovation to deliver transformative diagnostic and treatment solutions.

Head of Group

Dr George Mylonas

B415B Bessemer Building
South Kensington Campus

+44 (0)20 3312 5145

YouTube ⇒ HARMS Lab

What we do

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.

Meet the team

Dr James P Avery
Honorary Lecturer

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

Dr Jianlin Yang
Research Associate

Citation

BibTex format

@article{Mylonas:2006:10.3109/10929080600971344,
author = {Mylonas, GP and Darzi, A and Yang, GZ},
doi = {10.3109/10929080600971344},
journal = {Comput Aided Surg},
pages = {256--266},
title = {Gaze-contingent control for minimally invasive robotic surgery.},
url = {http://dx.doi.org/10.3109/10929080600971344},
volume = {11},
year = {2006}
}

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RIS format (EndNote, RefMan)

TY - JOUR
AB - OBJECTIVE: Recovering tissue depth and deformation during robotically assisted minimally invasive procedures is an important step towards motion compensation, stabilization and co-registration with preoperative data. This work demonstrates that eye gaze derived from binocular eye tracking can be effectively used to recover 3D motion and deformation of the soft tissue. METHODS: A binocular eye-tracking device was integrated into the stereoscopic surgical console. After calibration, the 3D fixation point of the participating subjects could be accurately resolved in real time. A CT-scanned phantom heart model was used to demonstrate the accuracy of gaze-contingent depth extraction and motion stabilization of the soft tissue. The dynamic response of the oculomotor system was assessed with the proposed framework by using autoregressive modeling techniques. In vivo data were also used to perform gaze-contingent decoupling of cardiac and respiratory motion. RESULTS: Depth reconstruction, deformation tracking, and motion stabilization of the soft tissue were possible with binocular eye tracking. The dynamic response of the oculomotor system was able to cope with frequencies likely to occur under most routine minimally invasive surgical operations. CONCLUSION: The proposed framework presents a novel approach towards the tight integration of a human and a surgical robot where interaction in response to sensing is required to be under the control of the operating surgeon.
AU - Mylonas,GP
AU - Darzi,A
AU - Yang,GZ
DO - 10.3109/10929080600971344
EP - 266
PY - 2006///
SN - 1092-9088
SP - 256
TI - Gaze-contingent control for minimally invasive robotic surgery.
T2 - Comput Aided Surg
UR - http://dx.doi.org/10.3109/10929080600971344
UR - https://www.ncbi.nlm.nih.gov/pubmed/17127651
VL - 11
ER -