Eye gaze tracking for endoscopic camera positioning: an application of a hardware/software interface developed to automate Aesop.

A redesigned motion control system for the medical robot Aesop allows automating and programming its movements. An IR eye tracking system has been integrated with this control interface to implement an intelligent, autonomous eye gaze-based laparoscopic positioning system. A laparoscopic camera held by Aesop can be moved based on the data from the eye tracking interface to keep the user's gaze point region at the center of a video feedback monitor. This system setup provides autonomous camera control that works around the surgeon, providing an optimal robotic camera platform.

A prototype biosensor-integrated image-guided surgery system.

BACKGROUND: In this study we investigated the integration of a Raman spectroscopy-based biosensor with an image-guided surgery system. Such a system would provide a surgeon with both a diagnosis of the tissue being analysed (e.g. cancer) and localization information displayed within an imaging modality of choice. This type of mutual and registered information could lead to faster diagnoses and enable more accurate tissue resections. METHODS: A test bed consisting of a portable Raman probe attached to a passively articulated mechanical arm was used to scan and classify objects within a phantom skull. RESULTS: The prototype system was successfully able to track the Raman probe, classify objects within the phantom skull, and display the classifications on medical imaging data within a virtual reality environment. CONCLUSION: We discuss the implementation of the integrated system, its accuracy and improvements to the system that will enhance its usefulness and further the field of sensor-based computer-assisted surgery.