Experimental Evaluation Using Head Motion and Augmented Reality to Intuitively Control a Flexible Endoscope

Yoeko X. Mak, Maurits Zegel, Momen Abayazid, Massimo A. Mariani, Stefano Stramigioli

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

5 Citations (Scopus)
128 Downloads (Pure)

Abstract

Thoracoscopic procedures require an assistant to hold and control the camera while the surgeon performs the surgical task. This paper presents an approach in which surgeons can control camera orientation using their head movements, allowing them to steer a flexible endoscope without the need for a camera assistant during the operation. Additionally, an augmented reality headset has been integrated into the head movement control system to serve as a virtual display monitor capable of following the user's gaze. Experiments were conducted to assess the feasibility of the head-controlled approach compared to the manual control method by conducting camerapointing experiments performed by clinicians and trained nonclinician participants at two difficulty levels. The results from the camera-pointing experiments have shown that the developed head-controlled endoscope has a statistically faster reaching time performance compared to manual use of the flexible endoscope in high difficulty index tasks with clinician participants (p=0.04), and in both lower and high difficulty index tasks with non-clinician participants (p=0.03). The head-controlled robotic endoscope approach enables surgeons to intuitively control the camera during an operation, while simultaneously performing other tasks using their hands, without sacrificing camera steering accuracy.
Original languageEnglish
Title of host publication2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
PublisherIEEE
Pages1-7
Number of pages7
ISBN (Electronic)978-1-6654-5849-8
ISBN (Print)978-1-6654-5850-4
DOIs
Publication statusPublished - 3 Nov 2022
Event9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2022 - Seoul, Korea, Republic of, Seoul, Korea, Republic of
Duration: 21 Aug 202224 Aug 2022
Conference number: 9

Conference

Conference9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2022
Abbreviated titleBioRob 2022
Country/TerritoryKorea, Republic of
CitySeoul
Period21/08/2224/08/22

Keywords

  • Headphones
  • Endoscopes
  • Robot vision systems
  • Surgery
  • Cameras
  • Indexes
  • Task analysis
  • 22/4 OA procedure

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