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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{Noonan:2008:10.1109/IROS.2008.4651105,
author = {Noonan, D and Mylonas, G and Darzi, A and Yang, GZ},
doi = {10.1109/IROS.2008.4651105},
pages = {1186--1191},
publisher = {IEEE/RSJ},
title = {Gaze Contingent Articulated Robot Control for Robot Assisted Minimally Invasive Surgery},
url = {http://dx.doi.org/10.1109/IROS.2008.4651105},
year = {2008}
}

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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - This paper introduces a novel technique for controlling an articulated robotic device through the eyes of the surgeon during minimally invasive surgery. The system consists of a binocular eye-tracking unit and a robotic instrument featuring a long, rigid shaft with an articulated distal tip for minimally invasive interventions. They have been integrated into a daVinci surgical robot to provide a seamless and non-invasive localization of eye fixations of the surgeon. By using a gaze contingent framework, the surgeon's fixations in 3D are converted into commands that direct the robotic probe to the desired location. Experimental results illustrate the ability of the system to perform real-time gaze contingent robot control and opens up a new avenue for improving current human-robot interfaces.
AU  - Noonan,D
AU  - Mylonas,G
AU  - Darzi,A
AU  - Yang,GZ
DO  - 10.1109/IROS.2008.4651105
EP  - 1191
PB  - IEEE/RSJ
PY  - 2008///
SP  - 1186
TI  - Gaze Contingent Articulated Robot Control for Robot Assisted Minimally Invasive Surgery
UR  - http://dx.doi.org/10.1109/IROS.2008.4651105
ER  -

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