Perceptually docked control environment for multiple microbots: application to the gastric wall biopsy

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 cont...

Full description

Saved in:
Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems Vol. 2009; pp. 2783 - 2788
Main Authors Ka Wai Kwok, Loi Wah Sun, Vitiello, V., James, D.R.C., Mylonas, G.P., Darzi, A., Guang-Zhong Yang
Format Conference Proceeding Journal Article
LanguageEnglish
Published United States IEEE 15.10.2009
Subjects
Biopsy
Cameras
Control systems
Eyes
Humans
Robot sensing systems
Robot vision systems
Sun
Surgery
Surges
Online AccessGet full text
ISBN9781424438037
1424438039
ISSN2153-0858
2153-0866
DOI10.1109/IROS.2009.5354704

Cover

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.
AbstractList 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 . 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.
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.
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.
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.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.
Author Loi Wah Sun
James, D.R.C.
Darzi, A.
Guang-Zhong Yang
Vitiello, V.
Mylonas, G.P.
Ka Wai Kwok
Author_xml – sequence: 1
  surname: Ka Wai Kwok
  fullname: Ka Wai Kwok
  organization: Inst. of Biomed. Eng., Imperial Coll. London, London, UK
– sequence: 2
  surname: Loi Wah Sun
  fullname: Loi Wah Sun
  organization: Inst. of Biomed. Eng., Imperial Coll. London, London, UK
– sequence: 3
  givenname: V.
  surname: Vitiello
  fullname: Vitiello, V.
  organization: Inst. of Biomed. Eng., Imperial Coll. London, London, UK
– sequence: 4
  givenname: D.R.C.
  surname: James
  fullname: James, D.R.C.
  organization: Inst. of Biomed. Eng., Imperial Coll. London, London, UK
– sequence: 5
  givenname: G.P.
  surname: Mylonas
  fullname: Mylonas, G.P.
  organization: Inst. of Biomed. Eng., Imperial Coll. London, London, UK
– sequence: 6
  givenname: A.
  surname: Darzi
  fullname: Darzi, A.
  organization: Dept. of Surg. Oncology & Technol., Imperial Coll. London, London, UK
– sequence: 7
  surname: Guang-Zhong Yang
  fullname: Guang-Zhong Yang
  organization: Inst. of Biomed. Eng., Imperial Coll. London, London, UK
BackLink https://www.ncbi.nlm.nih.gov/pubmed/24748996$$D View this record in MEDLINE/PubMed
BookMark eNpVkUtvFDEQhA0kIg_2ByAk5COXXfwemwMSioBEipSIx3nk8fQkBo892J6g_fcMymaV9KUPVfqqVX2CDmKKgNBrSjaUEvP-4tvV9w0jxGwkl6Ih4hlamUZTwYTgmgjxHB0zKvmaaKVePNF4c7DXpD5EJ_8xhhCmyRFalfKLLCMk00y9REdMNEIbo47RcA3ZwVRnG8IW98n9hh67FGtOAUO88znFEWLFQ8p4nEP1UwA8epdTl2r5gO00Be9s9SnimnC9BXxjS83e4b8LE3c-TWX7Ch0ONhRY7fYp-vnl84-z8_Xl1deLs0-Xa8-0quveDkpxqwljslOKLi1ISRiQTlIKgyIUFBeE9gqIpkZpPrih0baxWjFhHT9FH--509yN0Lvl8mxDO2U_2rxtk_XtUyX62_Ym3bXcaK0bsQDe7QA5_Zmh1Hb0xUEINkKaS0uXAqWhRvDF-vZx1j7kodzF8Obe4AFgL-9ey_8BsrGRrQ
ContentType Conference Proceeding
Journal Article
Copyright 2009 IEEE 2009
Copyright_xml – notice: 2009 IEEE 2009
DBID 6IE
6IH
CBEJK
RIE
RIO
NPM
7X8
5PM
DOI 10.1109/IROS.2009.5354704
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Proceedings Order Plan (POP) 1998-present by volume
IEEE Xplore All Conference Proceedings
IEEE Electronic Library (IEL)
IEEE Proceedings Order Plans (POP) 1998-present
PubMed
MEDLINE - Academic
PubMed Central (Full Participant titles)
DatabaseTitle PubMed
MEDLINE - Academic
DatabaseTitleList PubMed


MEDLINE - Academic
Database_xml – sequence: 1
  dbid: NPM
  name: PubMed
  url: https://proxy.k.utb.cz/login?url=http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed
  sourceTypes: Index Database
– sequence: 2
  dbid: RIE
  name: IEEE Xplore Digital Libary (IEL)
  url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EISBN 9781424438044
1424438047
EISSN 2153-0866
EndPage 2788
ExternalDocumentID PMC3988874
24748996
5354704
Genre orig-research
Journal Article
GrantInformation_xml – fundername: Wellcome Trust
  grantid: 090207/Z/09/Z
GroupedDBID 6IE
6IF
6IH
6IL
6IN
AAJGR
AAWTH
ABLEC
ACGFS
ADZIZ
ALMA_UNASSIGNED_HOLDINGS
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CBEJK
CHZPO
IEGSK
IJVOP
M43
OCL
RIE
RIL
RIO
RNS
NPM
7X8
5PM
ID FETCH-LOGICAL-i286t-daf663a80225b6613545502e0b511ef601e63401d6e0819683fcf78a7a8624ac3
IEDL.DBID RIE
ISBN 9781424438037
1424438039
ISSN 2153-0858
IngestDate Thu Aug 21 13:26:05 EDT 2025
Fri Jul 11 11:45:21 EDT 2025
Thu Jan 02 23:10:44 EST 2025
Wed Aug 27 02:39:20 EDT 2025
IsPeerReviewed false
IsScholarly true
LCCN 2009900280
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i286t-daf663a80225b6613545502e0b511ef601e63401d6e0819683fcf78a7a8624ac3
Notes ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
PMID 24748996
PQID 1826591943
PQPubID 23479
PageCount 6
ParticipantIDs proquest_miscellaneous_1826591943
pubmedcentral_primary_oai_pubmedcentral_nih_gov_3988874
ieee_primary_5354704
pubmed_primary_24748996
PublicationCentury 2000
PublicationDate 20091015
PublicationDateYYYYMMDD 2009-10-15
PublicationDate_xml – month: 10
  year: 2009
  text: 20091015
  day: 15
PublicationDecade 2000
PublicationPlace United States
PublicationPlace_xml – name: United States
PublicationTitle 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublicationTitleAbbrev IROS
PublicationTitleAlternate Rep U S
PublicationYear 2009
Publisher IEEE
Publisher_xml – name: IEEE
References 17127651 - Comput Aided Surg. 2006 Sep;11(5):256-66
15599295 - Surg Laparosc Endosc Percutan Tech. 2004 Dec;14(6):323-7
15660368 - J Surg Oncol. 2005 Feb 1;89(2):95-8
18982663 - Med Image Comput Comput Assist Interv. 2008;11(Pt 2):676-83
References_xml – reference: 18982663 - Med Image Comput Comput Assist Interv. 2008;11(Pt 2):676-83
– reference: 15599295 - Surg Laparosc Endosc Percutan Tech. 2004 Dec;14(6):323-7
– reference: 15660368 - J Surg Oncol. 2005 Feb 1;89(2):95-8
– reference: 17127651 - Comput Aided Surg. 2006 Sep;11(5):256-66
SSID ssj0000452826
ssj0001079896
Score 1.8672327
Snippet 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...
SourceID pubmedcentral
proquest
pubmed
ieee
SourceType Open Access Repository
Aggregation Database
Index Database
Publisher
StartPage 2783
SubjectTerms Biopsy
Cameras
Control systems
Eyes
Humans
Robot sensing systems
Robot vision systems
Sun
Surgery
Surges
Title Perceptually docked control environment for multiple microbots: application to the gastric wall biopsy
URI https://ieeexplore.ieee.org/document/5354704
https://www.ncbi.nlm.nih.gov/pubmed/24748996
https://www.proquest.com/docview/1826591943
https://pubmed.ncbi.nlm.nih.gov/PMC3988874
Volume 2009
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1NT9wwEB1RTnDpB9BuaSsjcSRLNrbjuNeqiFaioBYkbis7GbcrIEHdRBX8-s7kqwvi0FuiJE5sJ_Ebz3vPAPs-mIJtyiPM4xCpPMHIex0iZ3SQmGZOWhY4n3xLjy_U10t9uQYHoxYGEVvyGU55s83lF1Xe8FTZoZZaGTb_fEavWafVGudT2Bp8gMrt_EpsbNYuz0WDmowIWWSDrktmsbSD3VO_b_qM5yy2h1--n_7onCz7G_YrrzwFQh9zKVcGp6PncDJUq-OkXE2b2k_z-0eOj_9b7xew_U8GKM7GAe4lrGH5CjZXHAy3IJx1xJjGXV_fCSrqCgvR09_FiohOEDYWA3lR3DAL0Ff18qNYSaCLuhIER8VPx2uJ5OIPlSn8orpd3m3DxdHn80_HUb90Q7RIsrSOChcIyjjW8WpPEIAqQKFQgrEngIeBokBMJYV2RYqMSdJMhjyYzBnHghWXyx1YL6sS34CgEpJYeSeDSVQevNNxmDllHUE3J9FNYItbbH7buXPM-8aawN7QWXP6YjgN4kqsmuWcIyptZ1bJCbzuOm-8OFHsxmPTCZgH3TqewG7cD4-Ui1-tK7e0Gf2w1dunH2cXNto8FHNh9DtYr383-J7gTO0_tO_xXwkl8Es
linkProvider IEEE
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1NT9wwEB0heqC9tAValtLiSj02Sza245hrVbQUlqIWJG6RndiwgiaITVTRX9-ZfHVBHHpLlMSJ7STzxjPvDcAn61VOMuWBy0IfiCxygbXSB0ZJz12cGK6J4Dw7iafn4tuFvFiBzwMXxjnXJJ-5MW02sfy8zGpaKtuTXApF4p_P0O4L2bK1hhUVEgfvwXKzwhIqnTQFutCs8QCxRdIzu3gSct0LPnX7qot5TkK9d_jj-89Wy7K7ZVd75SkY-jibcsk8HbyEWd-xNivlelxXdpz9eaT5-L89fwWb_4iA7HQwca9hxRXr8GJJw3AD_GmbGlObm5t7hk1du5x1CfBsiUbHEB2zPn2R_aI8QFtWi322FEJnVckQkLJLQ9VEMvYb22R2Xt4u7jfh_ODr2Zdp0BVvCOZREldBbjyCGUNMXmkRBGAH0BmKXGgR4jmPfqCLOTp3eewIlcQJ95lXiVGGKCsm429gtSgLtwUMW4hCYQ33KhKZt0aGfmKENgjeDHdmBBs0Yultq8-RdoM1go_9ZKX4zVAgxBSurBcp-VRST7TgI3jbTt5wcSRIj0fHI1APpnU4gfS4Hx4p5leNLjfXCf6yxfbTj7MLa9Oz2XF6fHhy9A6eN1EpyoyRO7Ba3dXuPYKbyn5o3um_w8jzmA
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2009+IEEE%2FRSJ+International+Conference+on+Intelligent+Robots+and+Systems&rft.atitle=Perceptually+docked+control+environment+for+multiple+microbots%3A+application+to+the+gastric+wall+biopsy&rft.au=Ka+Wai+Kwok&rft.au=Loi+Wah+Sun&rft.au=Vitiello%2C+V.&rft.au=James%2C+D.R.C.&rft.date=2009-10-15&rft.pub=IEEE&rft.isbn=9781424438037&rft.issn=2153-0858&rft.spage=2783&rft.epage=2788&rft_id=info:doi/10.1109%2FIROS.2009.5354704&rft.externalDocID=5354704
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2153-0858&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2153-0858&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2153-0858&client=summon