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Appearance-Based Gaze Estimator for Natural Interaction Control of Surgical Robots
Li P(李鹏); Hou, Xuebin; Duan, Xingguang; Yip, Hiuman; Song GL(宋国立); Liu YH(刘云辉)
Department空间自动化技术研究室
Source PublicationIEEE ACCESS
ISSN2169-3536
2019
Volume7Pages:25095-25110
Indexed BySCI ; EI
EI Accession number20191106623589
WOS IDWOS:000461014500001
Contribution Rank4
KeywordDeep learning surgical robot gaze estimation convolutional neural network
AbstractRobots 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.
Language英语
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS KeywordCALIBRATION
WOS Research AreaComputer Science ; Engineering ; Telecommunications
Funding ProjectNational Natural Science Foundation of China through the Shenzhen Robot Research Program[U1613221] ; Shenzhen Fundamental Research[JCYJ20170307150346964] ; Guangdong Provincial Science and Technology Funds[2017A020211001] ; National Key Research and Development Program of China[2017YFB1302800]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24414
Collection空间自动化技术研究室
Corresponding AuthorSong GL(宋国立)
Affiliation1.School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
2.School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China
3.Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong
4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
GB/T 7714
Li P,Hou, Xuebin,Duan, Xingguang,et al. Appearance-Based Gaze Estimator for Natural Interaction Control of Surgical Robots[J]. IEEE ACCESS,2019,7:25095-25110.
APA Li P,Hou, Xuebin,Duan, Xingguang,Yip, Hiuman,Song GL,&Liu YH.(2019).Appearance-Based Gaze Estimator for Natural Interaction Control of Surgical Robots.IEEE ACCESS,7,25095-25110.
MLA Li P,et al."Appearance-Based Gaze Estimator for Natural Interaction Control of Surgical Robots".IEEE ACCESS 7(2019):25095-25110.
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