Development of an endoscopic manipulator control system with intention recognition based on pupil movement

Yang Cao, Quanquan Liu, Yo Kobayashi, Kazuya Kawamura, Shigeki Sugano, Masakatsu G. Fujie

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)

    Abstract

    The coordination between the operator and laparoscope holder has a major effect on the process and results of laparoscopic surgery. The most intuitive method is for surgeons to manipulate the laparoscope by themselves. Here we demonstrate an endoscopic manipulator control system based on pupil movement that uses an intention recognition system to improve manipulation performance. An experimental task was designed to verify the effects of the intention recognition system. The intention recognition system is installed on endoscopic manipulator. The two core elements of the intention recognition system are an intention judge and direction judge. A comparable experiment was designed to verify the effects of the intention recognition system. The results of the experiment show that control performance was improved using the intention judge element: the task time was much shorter and the motion trail was more stable.

    Original languageEnglish
    Title of host publication2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages1637-1642
    Number of pages6
    ISBN (Print)9781467396745
    DOIs
    Publication statusPublished - 2016 Feb 24
    EventIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai, China
    Duration: 2015 Dec 62015 Dec 9

    Other

    OtherIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
    CountryChina
    CityZhuhai
    Period15/12/615/12/9

    Fingerprint

    Laparoscopy
    Manipulators
    Control systems
    Surgery
    Experiments

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Hardware and Architecture
    • Control and Systems Engineering

    Cite this

    Cao, Y., Liu, Q., Kobayashi, Y., Kawamura, K., Sugano, S., & Fujie, M. G. (2016). Development of an endoscopic manipulator control system with intention recognition based on pupil movement. In 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 (pp. 1637-1642). [7419006] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2015.7419006

    Development of an endoscopic manipulator control system with intention recognition based on pupil movement. / Cao, Yang; Liu, Quanquan; Kobayashi, Yo; Kawamura, Kazuya; Sugano, Shigeki; Fujie, Masakatsu G.

    2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1637-1642 7419006.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Cao, Y, Liu, Q, Kobayashi, Y, Kawamura, K, Sugano, S & Fujie, MG 2016, Development of an endoscopic manipulator control system with intention recognition based on pupil movement. in 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015., 7419006, Institute of Electrical and Electronics Engineers Inc., pp. 1637-1642, IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, Zhuhai, China, 15/12/6. https://doi.org/10.1109/ROBIO.2015.7419006
    Cao Y, Liu Q, Kobayashi Y, Kawamura K, Sugano S, Fujie MG. Development of an endoscopic manipulator control system with intention recognition based on pupil movement. In 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1637-1642. 7419006 https://doi.org/10.1109/ROBIO.2015.7419006
    Cao, Yang ; Liu, Quanquan ; Kobayashi, Yo ; Kawamura, Kazuya ; Sugano, Shigeki ; Fujie, Masakatsu G. / Development of an endoscopic manipulator control system with intention recognition based on pupil movement. 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 1637-1642
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