Collaborative Gaze Channelling for Improved Cooperation During Robotic Assisted Surgery

The use of multiple robots for performing complex tasks is becoming a common practice for many robot applications. When different operators are involved, effective cooperation with anticipated manoeuvres is important for seamless, synergistic control of all the end-effectors. In this paper, the concept of Collaborative Gaze Channelling (CGC) is presented for improved control of surgical robots for a shared task. Through eye tracking, the fixations of each operator are monitored and presented in a shared surgical workspace. CGC permits remote or physically separated collaborators to share their intention by visualising the eye gaze of their counterparts, and thus recovers, to a certain extent, the information of mutual intent that we rely upon in a vis-à-vis working setting. In this study, the efficiency of surgical manipulation with and without CGC for controlling a pair of bimanual surgical robots is evaluated by analysing the level of coordination of two independent operators. Fitts' law is used to compare the quality of movement with or without CGC. A total of 40 subjects have been recruited for this study and the results show that the proposed CGC framework exhibits significant improvement (p<0.05) on all the motion indices used for quality assessment. This study demonstrates that visual guidance is an implicit yet effective way of communication during collaborative tasks for robotic surgery. Detailed experimental validation results demonstrate the potential clinical value of the proposed CGC framework. © 2012 Biomedical Engineering Society.link_to_subscribed_fulltex

On object selection in gaze controlled environments

In the past twenty years, gaze control has become a reliable alternative input method not only for handicapped users. The selection of objects, however, which is of highest importance and of highest frequency in computer control, requires explicit control not inherent in eye movements. Objects have been therefore usually selected via prolonged fixations (dwell times). Dwell times seemed to be for many years the unique reliable method for selection. In this paper, we review pros and cons of classical selection methods and novel metaphors, which are based on pies and gestures. The focus is on the effectiveness and efficiency of selections. In order to estimate the potential of current suggestions for selection, a basic empirical comparison is recommended

Evaluation of head-free eye tracking as an input device for air traffic control

International audienceThe purpose of this study was to investigate the possibility to integrate a free head motion eye-tracking system as input device in air traffic control (ATC) activity. Sixteen participants used an eye tracker to select targets displayed on a screen as quickly and accurately as possible. We assessed the impact of the presence of visual feedback about gaze position and the method of target selection on selection performance under different difficulty levels induced by variations in target size and target-to-target separation. We tend to consider that the combined use of gaze dwell-time selection and continuous eye-gaze feedback was the best condition as it suits naturally with gaze displacement over the ATC display and free the hands of the controller, despite a small cost in terms of selection speed. In addition, target size had a greater impact on accuracy and selection time than target distance. These findings provide guidelines on possible further implementation of eye tracking in ATC everyday activity

Entering PIN codes by smooth pursuit eye movements

Despite its potential gaze interaction is still not a widely-used interaction concept. Major drawbacks as the calibration, strain of the eyes and the high number of false alarms are associated with gaze based interaction and limit its practicability for every-day human computer interaction. In this paper two experiments are described which use smooth pursuit eye movements on moving display buttons. The first experiment was conducted to extract an easy and fast interaction concept and at the same time to collect data to develop a specific but robust algorithm. In a follow-up experiment, twelve conventionally calibrated participants interacted successfully with the system. For another group of twelve people the eye tracker was not calibrated individually, but on a third person. Results show that for both groups interaction was possible without false alarms. Both groups rated the user experience of the system as positive