Despinoy, Fabien
[UCL]
Leon Torres, Jonathan Roberto
[UCL]
Vitrani, Marie-Aude
[ISIR - UPMC-CNRS]
Herman, Benoît
[UCL]
Despite the continuous improvement of master interfaces, distant robot teleoperation remains a challenging task. In many applications, including robot-assisted single port laparoscopic surgery and NOTES, the operator has only an indirect vision of the remote environment, provided by a video camera usually mounted on the robot end-effector itself and displayed on a monitor. Driving such an eye-in-hand robot smoothly in real time is known to be difficult. Even a skilled user will likely generate a succession of independent translations and rotations punctuated by frequent stops, in order to keep the target inside the camera field of view. Since one can assume that she/he will look most of the time at the target on the video monitor, our idea is to gather additional information on the remote target with an eye-tracking device, and to use it to facilitate teleoperation. This paper introduces a novel remote teleoperation system that comprises such a device, as well as an 6-axis joystick. Several eye-hand couplings are compared in a first experimental trial. It is shown that the system is effective and intuitive.


Bibliographic reference |
Despinoy, Fabien ; Leon Torres, Jonathan Roberto ; Vitrani, Marie-Aude ; Herman, Benoît. Toward remote teleoperation with eye and hand: A first experimental study.3rd Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS2013) (Verona, Italy, du 11/09/2013 au 13/09/2013). |
Permanent URL |
http://hdl.handle.net/2078.1/133726 |