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

doi:10.1109/ROBIO.2015.7419006

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

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1637-1642
Number of pages	6
ISBN (Electronic)	9781467396745
DOIs	https://doi.org/10.1109/ROBIO.2015.7419006
Publication status	Published - 2015
Event	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai, China Duration: 2015 Dec 6 → 2015 Dec 9

Publication series

Name	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Other

Other	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Country/Territory	China
City	Zhuhai
Period	15/12/6 → 15/12/9

ASJC Scopus subject areas

Artificial Intelligence
Hardware and Architecture
Control and Systems Engineering

Access to Document

10.1109/ROBIO.2015.7419006

Cite this

Cao, Y., Liu, Q., Kobayashi, Y., Kawamura, K., Sugano, S., & Fujie, M. G. (2015). 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] (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015). 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 et al.

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Cao, Y, Liu, Q, Kobayashi, Y, Kawamura, K, Sugano, S & Fujie, MG 2015, 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, 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, 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. 2015. p. 1637-1642. 7419006. (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015). https://doi.org/10.1109/ROBIO.2015.7419006

Cao, Yang ; Liu, Quanquan ; Kobayashi, Yo et al. / 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., 2015. pp. 1637-1642 (2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015).

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title = "Development of an endoscopic manipulator control system with intention recognition based on pupil movement",

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.",

author = "Yang Cao and Quanquan Liu and Yo Kobayashi and Kazuya Kawamura and Shigeki Sugano and Fujie, {Masakatsu G.}",

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AU - Fujie, Masakatsu G.

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AB - 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.

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

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