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Perceptually Docked Control Environment for Multiple Microbots: Application to the Gastric Wall Biopsy

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Perceptually Docked Control Environment for Multiple Microbots: Application to the Gastric Wall Biopsy

Auteurs : Ka Wai Kwok ; Loi Wah Sun ; Valentina Vitiello ; David R. C. James ; George P. Mylonas ; Ara Darzi ; Guang-Zhong Yang

Source :

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems [ 2153-0858 ] ; 2009.

RBID : PMC:3988874

Abstract

This paper presents a human-robot interface with perceptual docking to allow for the control of multiple microbots. The aim is to demonstrate that real-time eye tracking can be used for empowering robots with human vision by using knowledge acquired in situ. Several micro-robots can be directly controlled through a combination of manual and eye control. The novel control environment is demonstrated on a virtual biopsy of gastric lesion through an endoluminal approach. Twenty-one subjects were recruited to test the control environment. Statistical analysis was conducted on the completion time of the task using the keyboard control and the proposed eye tracking framework. System integration with the concept of perceptual docking framework demonstrated statistically significant improvement of task execution.

Url:

http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3988874

DOI: 10.1109/IROS.2009.5354704
PubMed: 24748996
PubMed Central: 3988874

Affiliations:

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PMC:3988874

Le document en format XML

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<author><name sortKey="Kwok, Ka Wai" sort="Kwok, Ka Wai" uniqKey="Kwok K" first="Ka Wai" last="Kwok">Ka Wai Kwok</name>
</author>
<author><name sortKey="Sun, Loi Wah" sort="Sun, Loi Wah" uniqKey="Sun L" first="Loi Wah" last="Sun">Loi Wah Sun</name>
</author>
<author><name sortKey="Vitiello, Valentina" sort="Vitiello, Valentina" uniqKey="Vitiello V" first="Valentina" last="Vitiello">Valentina Vitiello</name>
</author>
<author><name sortKey="James, David R C" sort="James, David R C" uniqKey="James D" first="David R. C." last="James">David R. C. James</name>
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<author><name sortKey="Mylonas, George P" sort="Mylonas, George P" uniqKey="Mylonas G" first="George P." last="Mylonas">George P. Mylonas</name>
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<author><name sortKey="Darzi, Ara" sort="Darzi, Ara" uniqKey="Darzi A" first="Ara" last="Darzi">Ara Darzi</name>
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<author><name sortKey="Yang, Guang Zhong" sort="Yang, Guang Zhong" uniqKey="Yang G" first="Guang-Zhong" last="Yang">Guang-Zhong Yang</name>
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<series><title level="j">Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems</title>
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<front><div type="abstract" xml:lang="en"><p id="P1">This paper presents a human-robot interface with perceptual docking to allow for the control of multiple microbots. The aim is to demonstrate that real-time eye tracking can be used for empowering robots with human vision by using knowledge acquired <italic>in situ</italic>
. Several micro-robots can be directly controlled through a combination of manual and eye control. The novel control environment is demonstrated on a virtual biopsy of gastric lesion through an endoluminal approach. Twenty-one subjects were recruited to test the control environment. Statistical analysis was conducted on the completion time of the task using the keyboard control and the proposed eye tracking framework. System integration with the concept of perceptual docking framework demonstrated statistically significant improvement of task execution.</p>
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<pmc article-type="research-article"><pmc-comment>The publisher of this article does not allow downloading of the full text in XML form.</pmc-comment>
  <pmc-dir>properties manuscript</pmc-dir>
  <front><journal-meta><journal-id journal-id-type="nlm-journal-id">101532742</journal-id>
<journal-id journal-id-type="pubmed-jr-id">37745</journal-id>
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<journal-title-group><journal-title>Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems</journal-title>
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<article-id pub-id-type="manuscript">EMS57937</article-id>
<article-categories><subj-group subj-group-type="heading"><subject>Article</subject>
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<title-group><article-title>Perceptually Docked Control Environment for Multiple Microbots: Application to the Gastric Wall Biopsy</article-title>
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<contrib-group><contrib contrib-type="author"><name><surname>Kwok</surname>
<given-names>Ka Wai</given-names>
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<aff id="A1">Institute of Biomedical Engineering, Imperial College London, UK, Tel: +44 (0) 20 7594 8358; fax: +44 (0) 20 7581 8024;<email>k.kwok07@imperial.ac.uk</email>
</aff>
</contrib>
<contrib contrib-type="author"><name><surname>Sun</surname>
<given-names>Loi Wah</given-names>
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<aff id="A2">Institute of Biomedical Engineering, Imperial College London, UK</aff>
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<contrib contrib-type="author"><name><surname>Vitiello</surname>
<given-names>Valentina</given-names>
</name>
<aff id="A3">Institute of Biomedical Engineering, Imperial College London, UK</aff>
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<contrib contrib-type="author"><name><surname>James</surname>
<given-names>David R. C.</given-names>
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<aff id="A4">Institute of Biomedical Engineering, Imperial College London, UK</aff>
</contrib>
<contrib contrib-type="author"><name><surname>Mylonas</surname>
<given-names>George P.</given-names>
</name>
<aff id="A5">Institute of Biomedical Engineering, Imperial College London, UK</aff>
</contrib>
<contrib contrib-type="author"><name><surname>Darzi</surname>
<given-names>Ara</given-names>
</name>
<aff id="A6">Department of Surgical Oncology and Technology, Imperial College London, UK,<email>a.darzi@imperial.ac.uk</email>
</aff>
</contrib>
<contrib contrib-type="author"><name><surname>Yang</surname>
<given-names>Guang-Zhong</given-names>
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<aff id="A7">Institute of Biomedical Engineering, Imperial College London, UK</aff>
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<pub-date pub-type="nihms-submitted"><day>10</day>
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<volume>2009</volume>
<fpage>2783</fpage>
<lpage>2788</lpage>
<pmc-comment>elocation-id from pubmed: 10.1109/IROS.2009.5354704</pmc-comment>
      <permissions><copyright-statement>©2009 IEEE</copyright-statement>
<copyright-year>2009</copyright-year>
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<self-uri xlink:href="http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=5354704"></self-uri>
<abstract><p id="P1">This paper presents a human-robot interface with perceptual docking to allow for the control of multiple microbots. The aim is to demonstrate that real-time eye tracking can be used for empowering robots with human vision by using knowledge acquired <italic>in situ</italic>
. Several micro-robots can be directly controlled through a combination of manual and eye control. The novel control environment is demonstrated on a virtual biopsy of gastric lesion through an endoluminal approach. Twenty-one subjects were recruited to test the control environment. Statistical analysis was conducted on the completion time of the task using the keyboard control and the proposed eye tracking framework. System integration with the concept of perceptual docking framework demonstrated statistically significant improvement of task execution.</p>
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<affiliations><list></list>
<tree><noCountry><name sortKey="Darzi, Ara" sort="Darzi, Ara" uniqKey="Darzi A" first="Ara" last="Darzi">Ara Darzi</name>
<name sortKey="James, David R C" sort="James, David R C" uniqKey="James D" first="David R. C." last="James">David R. C. James</name>
<name sortKey="Kwok, Ka Wai" sort="Kwok, Ka Wai" uniqKey="Kwok K" first="Ka Wai" last="Kwok">Ka Wai Kwok</name>
<name sortKey="Mylonas, George P" sort="Mylonas, George P" uniqKey="Mylonas G" first="George P." last="Mylonas">George P. Mylonas</name>
<name sortKey="Sun, Loi Wah" sort="Sun, Loi Wah" uniqKey="Sun L" first="Loi Wah" last="Sun">Loi Wah Sun</name>
<name sortKey="Vitiello, Valentina" sort="Vitiello, Valentina" uniqKey="Vitiello V" first="Valentina" last="Vitiello">Valentina Vitiello</name>
<name sortKey="Yang, Guang Zhong" sort="Yang, Guang Zhong" uniqKey="Yang G" first="Guang-Zhong" last="Yang">Guang-Zhong Yang</name>
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</record>

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Perceptually Docked Control Environment for Multiple Microbots: Application to the Gastric Wall Biopsy

Perceptually Docked Control Environment for Multiple Microbots: Application to the Gastric Wall Biopsy

Source :

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

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