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Research Papers

Attention-Aware Robotic Laparoscope Based on Fuzzy Interpretation of Eye-Gaze Patterns

[+] Author and Article Information
Songpo Li

Department of Mechanical Engineering,
Colorado School of Mines,
Golden, CO 80401
e-mail: soli@mines.edu

Xiaoli Zhang

Mem. ASME
Department of Mechanical Engineering,
Colorado School of Mines,
Golden, CO 80401
e-mail: xlzhang@mines.edu

Fernando J. Kim

Department of Urology,
Denver Health Medical Center,
Denver, CO 80204
e-mail: Fernando.Kim@dhha.org

Rodrigo Donalisio da Silva

Department of Urology,
Denver Health Medical Center,
Denver, CO 80204
e-mail: Rodrigo.DonalisiodaSilva@dhha.og

Diedra Gustafson

Department of Urology,
Denver Health Medical Center,
Denver, CO 80204
e-mail: Diedra.Gustafson@dhha.org

Wilson R. Molina

Department of Urology,
Denver Health Medical Center,
Denver, CO 80204
e-mail: Wilson.Molina@dhha.org

1Corresponding author.

Manuscript received November 29, 2014; final manuscript received May 4, 2015; published online August 6, 2015. Assoc. Editor: Rafael V. Davalos.

J. Med. Devices 9(4), 041007 (Aug 06, 2015) (10 pages) Paper No: MED-14-1278; doi: 10.1115/1.4030608 History: Received November 29, 2014

Laparoscopic robots have been widely adopted in modern medical practice. However, explicitly interacting with these robots may increase the physical and cognitive load on the surgeon. An attention-aware robotic laparoscope system has been developed to free the surgeon from the technical limitations of visualization through the laparoscope. This system can implicitly recognize the surgeon's visual attention by interpreting the surgeon's natural eye movements using fuzzy logic and then automatically steer the laparoscope to focus on that viewing target. Experimental results show that this system can make the surgeon–robot interaction more effective, intuitive, and has the potential to make the execution of the surgery smoother and faster.

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Figures

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Fig. 2

The setup of the gaze-guided automated robotic laparoscope system. The image of the artificial muscle in the surgery simulator is projected on a monitor through the robotic laparoscope.

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Fig. 1

The flowchart of the attention-aware gaze-guided robotic laparoscope system

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Fig. 3

Two kinds of historical eye-gaze behaviors in a surgical operation

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Fig. 4

The overall procedure of the fuzzy inference engine

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Fig. 5

Fuzzy logic membership functions

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Fig. 7

The experiment setup with a virtual simulator

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Fig. 8

Comparison between the raw gaze data (left) with refined gaze data (right). The small squares are the gaze points. The big circles are the targets that the subject gazed upon on the monitor. The lines are the trajectory of the eye movements.

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Fig. 9

Comparison of the response time in the dwell-time method and the fuzzy inference method

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Fig. 11

The summary of user experience over repetitive tests for each method. The average score of the dwell-time method is 38.5, which is comparable to 38 for the fuzzy.

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Fig. 12

User experience comparison of the fuzzy inference method over the dwell-time method. The total score ranges between 0 and 40 (the value closer to 0 means that the dwell-time method is superior to the fuzzy inference method and the value closer to 40 means that the fuzzy inference method is better than the dwell-time method).

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Fig. 10

The summary of system usability score in two different methods. The higher score means that the system has a better usability. ASoFI: average score of the fuzzy inference method. ASoDT: average score of the dwell-time method.

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