In this section

Human-Centred Automation, Robotics and Monitoring

We use perceptual methods, AI, and frugal robotics innovation to deliver transformative diagnostic and treatment solutions.

Head of Group

Dr George Mylonas

B415B Bessemer Building
South Kensington Campus

+44 (0)20 3312 5145

YouTube ⇒ HARMS Lab

What we do

The HARMS lab leverages perceptually enabled methodologies, artificial intelligence, and frugal innovation in robotics (such as soft surgical robots) to deliver transformative solutions for diagnosis and treatment. Our research is driven by both problem-solving and curiosity, aiming to build a comprehensive understanding of the actions, interactions, and reactions occurring in the operating room. We focus on using robotic technologies to facilitate procedures that are not yet widely adopted, particularly in endoluminal surgery, such as advanced treatments for gastrointestinal cancer.

Meet the team

Mr Amirhosein Alian
Research Postgraduate

Dr James P Avery
Honorary Lecturer

Mr Junhong Chen
Research Postgraduate

Mr Kaizhong Deng
Research Postgraduate

Dr George Mylonas BEng, MSc, DIC, PhD
Senior Lecturer in Robotics and Technology in Cancer

Dr Adrian Rubio Solis
Research Associate in Sensing and Machine Learning

Dr Jianlin Yang
Research Associate

Citation

BibTex format

@inproceedings{Vrielink:2019:10.1109/IROS.2018.8594426,
author = {Vrielink, TJCO and Puyal, JG-B and Kogkas, A and Darzi, A and Mylonas, G},
doi = {10.1109/IROS.2018.8594426},
pages = {1776--1782},
publisher = {IEEE},
title = {Intuitive gaze-control of a robotized flexible endoscope},
url = {http://dx.doi.org/10.1109/IROS.2018.8594426},
year = {2019}
}

Download

RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - Flexible endoscopy is a routinely performed procedure that has predominantly remained unchanged for decades despite its many challenges. This paper introduces a novel, more intuitive and ergonomic platform that can be used with any flexible endoscope, allowing easier navigation and manipulation. A standard endoscope is robotized and a gaze control system based on eye-tracking is developed and implemented, allowing hands-free manipulation. The system characteristics and step response has been evaluated using visual servoing. Further, the robotized system has been compared with a manually controlled endoscope during a user study. The users (n=11) showed a preference for the gaze controlled endoscope and a lower task load when the task was performed with the gaze control. In addition, gaze control was related to a higher success rate and a lower time to perform the task. The results presented validate the system's technical performance and demonstrate the intuitiveness of hands-free gaze control in flexible endoscopy.
AU  - Vrielink,TJCO
AU  - Puyal,JG-B
AU  - Kogkas,A
AU  - Darzi,A
AU  - Mylonas,G
DO  - 10.1109/IROS.2018.8594426
EP  - 1782
PB  - IEEE
PY  - 2019///
SN  - 2153-0858
SP  - 1776
TI  - Intuitive gaze-control of a robotized flexible endoscope
UR  - http://dx.doi.org/10.1109/IROS.2018.8594426
UR  - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000458872701129&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR  - http://hdl.handle.net/10044/1/85574
ER  -