The use of master-slave surgical robots for Minimally Invasive Surgery (MIS) has created a physical separation between the surgeon and the patient. Reconnecting the essential visuomotor sensory feedback is important for the safe practice of robotic assisted MIS procedures. This paper introduces a novel gaze contingent framework with real-time haptic feedback by transforming visual sensory information into physical constraints that can interact with the motor sensory channel. We demonstrate how motor tracking of deforming tissue can be made more effective and accurate through the concept of gaze-contingent motor channelling. The method also uses 3D eye gaze to dynamically prescribe and update safety boundaries during robotic assisted MIS without prior knowledge of the soft-tissue morphology. Initial validation results on both simulated and robotic assisted phantom procedures demonstrate the potential clinical value of the technique. © 2008 Springer Berlin Heidelberg.
CITATION STYLE
Mylonas, G. P., Kwok, K. W., Darzi, A., & Yang, G. Z. (2008). Gaze-contingent motor channelling and haptic constraints for minimally invasive robotic surgery. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 5242 LNCS, pp. 676–683). Springer Verlag. https://doi.org/10.1007/978-3-540-85990-1_81
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