Perceptually Docked Control Environment for Multiple Microbots: Application to the Gastric Submucosal Tumor Resection

PHANToM Omni tool devices and a Tobii eye tracker. Bottom: A snapshot of the console display. Abstract—This paper presents a human-robot interface with perceptual docking to allow for the control of multiple microbots. The aim is to demonstrate that real-time eye tracking can be used for empowering robots with human vision by using knowledge acquired in situ. Several micro-robots can be directly controlled through a combination of manual and eye control. The novel control environment is demonstrated on a virtual biopsy of gastric lesion through an endoluminal approach. Twenty-one subjects were recruited to test the control environment. Statistical analysis was conducted on the completion time of the task using the keyboard control and the proposed eye tracking framework. System integration with the concept of perceptual docking framework demonstrated statistically significant improvement of task execution.