Perceptually Docked Control Environment for Multiple Microbots: Application to the Gastric Wall Biopsy.

Area of Science:

• Human-Robot Interaction
• Robotics
• Medical Simulation

Background:

• Controlling multiple micro-robots presents challenges in precision and efficiency.
• Integrating human vision and real-time feedback is crucial for advanced robotic control.

Purpose of the Study:

• To develop and evaluate a human-robot interface for controlling multiple micro-robots using perceptual docking.
• To demonstrate the efficacy of real-time eye tracking for empowering robots with human visual guidance.
• To assess the system's performance in a simulated endoluminal gastric biopsy procedure.

Main Methods:

• A novel control environment integrating manual and eye-tracking control for multiple micro-robots was developed.
• The system utilized a perceptual docking framework for enhanced robot control.
• Twenty-one subjects performed a virtual gastric lesion biopsy task using keyboard and eye-tracking controls.

Main Results:

• Statistical analysis revealed a significant improvement in task execution time using the eye-tracking framework compared to keyboard control.
• The integration of perceptual docking demonstrated enhanced task completion efficiency.
• Real-time eye tracking effectively translated human visual intent into micro-robot actions.

Conclusions:

• The developed human-robot interface with perceptual docking and eye tracking offers a significant advancement in controlling multiple micro-robots.
• Real-time eye tracking provides a viable method for augmenting robot control with human visual perception.
• The system shows promise for applications in minimally invasive surgery and other complex robotic tasks.