Below is a list of all relevant publications authored by Robotics Forum members.


BibTex format

author = {Vrielink, TJCO and Puyal, JG-B and Kogkas, A and Darzi, A and Mylonas, G},
doi = {10.1109/IROS.2018.8594426},
pages = {1776--1782},
publisher = {IEEE},
title = {Intuitive gaze-control of a robotized flexible endoscope},
url = {},
year = {2019}

RIS format (EndNote, RefMan)

AB - Flexible endoscopy is a routinely performed procedure that has predominantly remained unchanged for decades despite its many challenges. This paper introduces a novel, more intuitive and ergonomic platform that can be used with any flexible endoscope, allowing easier navigation and manipulation. A standard endoscope is robotized and a gaze control system based on eye-tracking is developed and implemented, allowing hands-free manipulation. The system characteristics and step response has been evaluated using visual servoing. Further, the robotized system has been compared with a manually controlled endoscope during a user study. The users (n=11) showed a preference for the gaze controlled endoscope and a lower task load when the task was performed with the gaze control. In addition, gaze control was related to a higher success rate and a lower time to perform the task. The results presented validate the system's technical performance and demonstrate the intuitiveness of hands-free gaze control in flexible endoscopy.
AU - Vrielink,TJCO
AU - Puyal,JG-B
AU - Kogkas,A
AU - Darzi,A
AU - Mylonas,G
DO - 10.1109/IROS.2018.8594426
EP - 1782
PY - 2019///
SN - 2153-0858
SP - 1776
TI - Intuitive gaze-control of a robotized flexible endoscope
UR -
UR -
UR -
ER -