Pupil variation for use in zoom control

Yang Cao, Yo Kobayashi, Satoshi Miura, Kazuya Kawamura, Masakatsu G. Fujie, Shigeki Sugano

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


    We are developing an endoscopic manipulator control system based on eye tracking, which uses pupil variation to improve control performance. In this paper, we propose a new approach for the control of camera zoom for an endoscopic manipulator using pupil variation, which has not been previously attempted. Before using pupil variation for the zoom function, we observed how pupil variation was related to controlling the timing for zooming in or out while a surgeon performed suturing tasks. After we confirmed the potential application for zoom control based on the variation of the size of pupil, we developed a zoom judge algorithm and integrated it into our endoscopic manipulator control system. We set up an experimental task to evaluate our proposal, and conclude that pupil variation has a significant effect on adjusting the zoom magnification for the endoscopic manipulator. Moreover, it shows better performance than zoom control by pedal input.

    Original languageEnglish
    Title of host publication2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Number of pages6
    ISBN (Electronic)9781509043644
    Publication statusPublished - 2017 Feb 27
    Event2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China
    Duration: 2016 Dec 32016 Dec 7


    Other2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

    ASJC Scopus subject areas

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

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