Perceptually Docked Control Environment for Multiple Microbots: Application to the Gastric Wall Biopsy.
Perceptually Docked Control Environment for Multiple Microbots: Application to the Gastric Wall Biopsy.
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DOI：
10.1109/iros.2009.5354704
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发表时间：
2009-10-15
期刊：
影响因子：
--
通讯作者：
Yang GZ
中科院分区：
文献类型：
--
作者：
Kwok KW;Sun LW;Vitiello V;James DR;Mylonas GP;Darzi A;Yang GZ
本文提出了一种人机界面与感知对接，允许多个微型机器人的控制。其目的是证明实时眼动跟踪可以通过使用原位获得的知识来赋予机器人人类视觉。几个微型机器人可以通过手动和眼睛控制的组合直接控制。新的控制环境是通过腔内方法在胃病变的虚拟活检上证明的。招募了21名受试者来测试对照环境。使用键盘控制和提出的眼动跟踪框架对任务的完成时间进行统计分析。系统集成的概念，感知对接框架表现出统计上显着的改善任务执行。
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.