In this section
We use perceptual methods, AI, and frugal robotics innovation to deliver transformative diagnostic and treatment solutions.
B415B Bessemer Building
South Kensington Campus
+44 (0)20 3312 5145
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.
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
@inproceedings{Mylonas:2007,
author = {Mylonas, GP and Stoyanov, D and Darzi, A and Yang, GZ},
pages = {660--667},
title = {Assessment of perceptual quality for gaze-contingent motion stabilization in robotic assisted minimally invasive surgery},
year = {2007}
}
TY - CPAPER
AB - With the increasing sophistication of surgical robots, the use of motion stabilisation for enhancing the performance of micro-surgical tasks is an actively pursued research topic. The use of mechanical stabilisation devices has certain advantages, in terms of both simplicity and consistency. The technique, however, can complicate the existing surgical workflow and interfere with an already crowded MIS operated cavity. With the advent of reliable vision-based real-time and in situ in vivo techniques on 3D-deformation recovery, current effort is being directed towards the use of optical based techniques for achieving adaptive motion stabilisation. The purpose of this paper is to assess the effect of virtual stabilization on foveal/parafoveal vision during robotic assisted MIS. Detailed psychovisual experiments have been performed. Results show that stabilisation of the whole visual field is not necessary and it is sufficient to perform accurate motion tracking and deformation compensation within a relatively small area that is directly under foveal vision. The results have also confirmed that under the current motion stabilisation regime, the deformation of the periphery does not affect the visual acuity and there is no indication of the deformation velocity of the periphery affecting foveal sensitivity. These findings are expected to have a direct implication on the future design of visual stabilisation methods for robotic assisted MIS. © Springer-Verlag Berlin Heidelberg 2007.
AU - Mylonas,GP
AU - Stoyanov,D
AU - Darzi,A
AU - Yang,GZ
EP - 667
PY - 2007///
SN - 0302-9743
SP - 660
TI - Assessment of perceptual quality for gaze-contingent motion stabilization in robotic assisted minimally invasive surgery
ER -
The Hamlyn Centre
Bessemer Building
South Kensington Campus
Imperial College
London, SW7 2AZ
Map location
