1. Gaze Controlled Robotic Camera System Anuj Awasthi Anand Sivadasan Veeral Patel

2. Outline Background Significance Problem Statement Concept Methodology Specific aims Budget Project Participation Time Frame

3. Background Laparoscopic robotic surgery Eye tracker application  Visual mouse Human factors  Computer vision based control  Face mouse  Voice control

4. Requirements in Laparoscopic Surgery Maintain the surgical point of interest in the centre of the image. Provide the required magnification of the area. Produce and maintain a horizontal image of the point of interest. Perform the preceding actions automatically, although they can be modulated by the surgeon.

5. Visual Mouse Application Obtaining the horizontal and vertical coordinates with the eye tracker The technique of live streaming of the horizontal and vertical coordinates Interfacing of eye tracker and computer

6. Eye Tracker System

7. Human Factors Computer vision based control of robotic camera Camera control based on computer vision tracking of the surgical tools. Image processing used to differentiate surgical tool of interest from surroundings. No input required from the surgeon. Disadvantages Surgeon’s area of interest not taken into consideration Assumes surgical area to be surgeon’s area of interest always Surgeon ends up looking at corners of the screen often

8. Human Factors Face Mouse control for robotic camera Image based system Tracks facial features of surgeon real time Controls camera based on pitch, yaw and roll of surgeon’s face Disadvantages Constant face movements causes strain Difficult to keep pace with movement of tools

9. Human Factors Voice control of Robotic camera Uses voice and pedal controls Uses voice recognition techniques Set of voice commands the camera Disadvantages Considerable burden on surgeon Difficult to perform dual inputs

10. Significance Reduction in work load on surgeon Accuracy of surgical tasks Impact on surgical time Hands Free Control

11. Problem Statement “To develop a camera control system which reduces the work load on the surgeon without compromising on the quality of surgeon’s video display ”

12. Concept Gaze based robotic camera Acquire gaze of the surgeon with eye tracker. Camera manipulation using eye tracker data interfaced with robot controls

13. Robotic Hardware A small wireless 320 X 240 resolution camera with an inbuilt transmitter A Receiver Set Two Servomotors (HS 422) Links Usbor Servo Controller Pivot Post Gripper Washer, Set of Clamps, Bolts, Nuts Eye tracker System

14. Methodology Operation siteSurgeon Site

15. Surgical Site Server System (HOST Computer) Usbor Servo Controller  Visual C++ 6.0 Coding Servo Motors Robot Arm End Effecter  Inverse Kinematics to be followed Wireless Camera  AAA Battery supplied Receiver

16. Surgeon’s Site Dedicated system (Client ) Image Acquisition through Internet  Streaming Video  Live Motion JPEG System Image Processing  Intel’s Open CV Library  Improve Brightness and Contrast Eye tracker System

17. Fuzzy Based Control Pupil Cluster 1 Cluster 2 Cluster 3 Cluster 4 Cluster 5 Cluster 6

18. Fuzzy C-Means Algorithm Point of Gaze keeps fluctuating. Entire Eye tracker screen supposed to be divided into clusters. Fuzzy C-Means Algorithm used. Degree of belongingness of the point of gaze to a cluster is supposed to be the Degree of Membership of the fuzzy function Point of Gaze co-ordinates assumed to be same as co-ordinates of cluster centers.

19. Specific Aims To cover the surgical area with camera. To obtain the point of gaze of the surgeon with eye tracker. To control the robotic camera based on the point of gaze coordinates. To facilitate Surgeon’s view.

20. Budget

21. Project Participation Robot Assembling : Veeral, Anuj & Anand Inverse kinematics : Anuj & Anand Software for Kinematics Control: Anuj & Veeral Interfacing Eye tracker and Robot : Anuj, Veeral & Anand Eye Tracker Output : Anand & Veeral

22. Time Frame TaskTime Duration ConceptualizationJan 10th-Jan 25th Literature ReviewJan 26th-Feb 10th Ordering HardwareFeb 15th Proposal WritingFeb 15th-Feb 27th Robot AssemblingFeb 28th-March 5th Software DevelopmentMarch 5th-March 25th Final Report WritingMarch 25th-April 10th TestingApril 10th-April 20th

23. References M. Farid,F. Murtagh,J.L. Starck.” Computer Display Control and Interaction using Eye-Gaze". School of Computer Science,Belfast,UK. Atsushi Nishikawa “Face Mouse : A Novel Human- Machine Interface for Controlling the Position of a Laparoscope” IEEE Transactions on Robotics and Automation,Vol. 19,No. 5,October 2003. Murtagh F. ”Eye Gaze Tracking System-Visual Mouse Application Development”,3rd Year Training Report,E.N.P.S. Engineering Degree, March- August 2001.

24. Reference (Contd..) M.E. Allaf. “Laparoscopic Visual Field – Voice vs. foot Pedal interfaces for control of AESOP Robot "Surgical Endoscopy.Feb 1998. A. Casals,J. Amat,E. Laporte. ”Automatic Guidance of an Assistant Robot in Laparoscopic Surgery” International Conference on Robotics and Automation, IEEE 1996. R. Hurteau,S. DeSantis “Laparoscopic Surgery Assisted by a Robotic Cameraman:Concept and Experimental Results”IEEE 1994.

25. References (Contd….) George P. Mylonas,Danail Satyanov. ”Gaze Contingent Soft tissue Deformation Tracking for Minimally Invasive Robotic Surgery” MICCAI 2005, LNCS 3749, pp. 843 – 850, 2005. Shamsi T. Iqbal,Brian P. Bailey. “Using Eye- Gaze Patterns to Identify User tasks”GHC04,2004

26. THANK YOU!!!!!! QUESTIONS???????