3D eye movement analysis for VR visual inspection training
ETRA '02 Proceedings of the 2002 symposium on Eye tracking research & applications
Perceptual Docking for Robotic Control
MIAR '08 Proceedings of the 4th international workshop on Medical Imaging and Augmented Reality
Gaze-Contingent 3D Control for Focused Energy Ablation in Robotic Assisted Surgery
MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
Soft Tissue Tracking for Minimally Invasive Surgery: Learning Local Deformation Online
MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
Gaze-Contingent Motor Channelling and Haptic Constraints for Minimally Invasive Robotic Surgery
MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention
The use of super resolution in robotic assisted minimally invasive surgery
MICCAI'06 Proceedings of the 9th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
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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.