Appearance-Based Gaze Estimator for Natural Interaction Control of Surgical Robots
Appearance-Based Gaze Estimator for Natural Interaction Control of Surgical Robots
复制标题
用于手术机器人自然交互控制的基于外观的注视估计器
DOI：
10.1109/access.2019.2900424
复制
发表时间：
2019-01-01
期刊：
影响因子：
3.9
通讯作者：
Liu, Yunhui
中科院分区：
文献类型：
--
作者：
Li, Peng;Hou, Xuebin;Liu, Yunhui
机器人在现代外科手术中发挥着越来越重要的作用。然而，传统的人机交互方法，如操纵杆控制和声音控制，存在一些缺点，需要医务人员专门练习操作机器人。我们提出了一个基于眼动的人机交互模型，医务人员可以方便地使用他们的眼球运动来控制机器人。我们的算法只需要一个RGB相机来执行任务，而不需要昂贵的眼睛跟踪设备。本文设计了两种眼控模式。第一种类型是拾取和放置运动，用户使用眼睛凝视来指定机器人手臂需要移动的点。第二种类型是用户命令移动，用户可以使用眼睛注视来选择用户希望机器人移动的方向。实验结果证明了这两种运动方式的可行性和方便性。
Robots are playing an increasingly important role in modern surgery. However, conventional human-computer interaction methods, such as joystick control and sound control, have some shortcomings, and medical personnel are required to specifically practice operating the robot. We propose a human-computer interaction model based on eye movement with which medical staff can conveniently use their eye movements to control the robot. Our algorithm requires only an RGB camera to perform tasks without requiring expensive eye-tracking devices. Two kinds of eye control modes are designed in this paper. The first type is the pick and place movement, with which the user uses eye gaze to specify the point where the robotic arm is required to move. The second type is user command movement, with which the user can use eye gaze to select the direction in which the user desires the robot to move. The experimental results demonstrate the feasibility and convenience of these two modes of movement.