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Title: Gaze-contingent perceptual docking for minimally invasive robotic surgery
Author: Mylonas, George P.
ISNI:       0000 0004 2680 5210
Awarding Body: Imperial College London
Current Institution: Imperial College London
Date of Award: 2010
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Recent advances in Minimally Invasive Surgery (MIS) have allowed the use of mechatronically controlled remote manipulators and stereoscopic visualisation for performing robotically assisted operations. The introduction of robotic technology has brought upon a number of improvements in surgical practice but has also at the same time created a number of difficulties. Being an enabling technology, robotic assisted MIS allows the integration of a number of different human-robot interaction modalities. In this thesis, the concept of Perceptual Docking and more specifically Gaze-Contingent Perceptual Docking is explored. It exploits the synergy of human perception and robotic manipulation for improved MIS. It is shown that through the use of stereoscopic vision and binocular eye tracking, it is possible to perform a number of tasks that augment robotic control with human perception. In this thesis, perceptual and cognitive aspects of human action are first discussed, paying particular attention to the human visual system. The latter is studied in detail and eye tracking is introduced as the method that allows tracking of the 3D fixation point that corresponds to the focus of attention of the operating surgeon during MIS. Subsequently, gaze-contingent depth recovery is introduced which allows the human eyes to be effectively used as a 3D scanner to recover morphological information from the tissue. The same principle is extended to deforming tissues and the principles of soft tissue deformation tracking and motion stabilization are presented. A study on the assessment of perceptual quality as a result of local, as opposed to global, tissue stabilization is then carried out to assess the effectiveness and suitability of the proposed approach. The thesis concludes with the concept of Gaze-Contingent Motor Channelling and Haptic Constraints, with which the visual sensory information is transubstantiated into a physical entity that can interact with the motor sensory channel, allowing the fixation point to interact with the physical world. Throughout the thesis, experimental methods, systematic validation and detailed discussions of the results are carried out.
Supervisor: Yang, Guang-Zhong ; Darzi, Ara Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available