Gaze-contingent Soft Tissue Deformation Tracking for Minimally Invasive Robotic Surgery

Mylonas, G. P., Stoyanov, D., Deligianni, F. , Darzi, A. and Yang, G.-Z. (2005) Gaze-contingent Soft Tissue Deformation Tracking for Minimally Invasive Robotic Surgery. In: 8th International Medical Image Computing and Computer-Assisted Intervention Conference (MICCAI 2005), Palm Springs, CA, USA, 26-29 Oct 2005, pp. 843-850. ISBN 9783540293279 (doi:10.1007/11566465_104)

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Abstract

The introduction of surgical robots in Minimally Invasive Surgery (MIS) has allowed enhanced manual dexterity through the use of microprocessor controlled mechanical wrists. Although fully autonomous robots are attractive, both ethical and legal barriers can prohibit their practical use in surgery. The purpose of this paper is to demonstrate that it is possible to use real-time binocular eye tracking for empowering robots with human vision by using knowledge acquired in situ. By utilizing the close relationship between the horizontal disparity and the depth perception varying with the viewing distance, it is possible to use ocular vergence for recovering 3D motion and deformation of the soft tissue during MIS procedures. Both phantom and in vivo experiments were carried out to assess the potential frequency limit of the system and its intrinsic depth recovery accuracy. The potential applications of the technique include motion stabilization and intra-operative planning in the presence of large tissue deformation.

Item Type:Conference Proceedings
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Deligianni, Dr Fani
Authors: Mylonas, G. P., Stoyanov, D., Deligianni, F., Darzi, A., and Yang, G.-Z.
College/School:College of Science and Engineering > School of Computing Science
ISSN:0302-9743
ISBN:9783540293279

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