Double eye tracker configuration for a robot-assisted surgical system
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Publication Number
US-11850730-B2
Publication Date
2023-12-26
Expiration Date
Abstract
Eye gaze measurements are used to give input to a surgical robotic system. Eye tracking input is enhanced using a pair of eye trackers positioned to track the gaze of a user observing an endoscopic image on a display. At least one of the eye trackers is moveable relative to the display in a horizontal and/or vertical direction relative to the image display.
Core Innovation
A system for measuring an eye gaze to drive a robotic application is disclosed, including a monitor configured to display an image of a surgical field to a user. A first eye tracker defines a first head box, and a second eye tracker defines a second head box, and the first and second eye trackers are positioned to create an overlap region of the first head box and the second head box.
At least one of the eye trackers is moveable relative to the other to increase or decrease a size of the overlap region. This double-eye-tracker architecture is directed to robustness against head-box loss by adjusting overlap between the first and second head boxes, and eye gaze input from each of the two eye trackers is received by at least one processor having memory with instructions executable by the processor.
The processor is configured to calibrate and optimize the eye gaze input from the eye trackers, and to send movement commands to a robotic manipulator arm holding an endoscopic camera or surgical instruments based on the eye gaze input. The system also addresses interference between the two trackers’ IR illumination used for eye tracking by using mutual-exclusion mechanisms.
Claims Coverage
The independent claim covers four main inventive features, comprising: dual eye trackers whose head boxes overlap, adjustability of the overlap region by moving at least one tracker relative to the other, processor-based reception, calibration, and optimization of redundant eye gaze input from both trackers, and sending movement commands to a robotic manipulator arm holding an endoscopic camera or surgical instruments. Dependent claims further narrow hardware and processing for tracker positioning and illumination interference handling.
Overlapping head boxes from two eye trackers
A first eye tracker comprising a first pair of cameras defining a first head box and a second eye tracker comprising a second pair of cameras defining a second head box, each configured to measure an eye movement of a user, wherein the first and second eye trackers are positioned to create an overlap region of the first head box and the second head box.
Adjustable overlap region by moving one tracker
At least one of the first eye tracker and the second eye tracker moveable relative to the other to increase or decrease a size of the overlap region.
Processor calibration and optimization of redundant eye gaze input
At least one processor with memory storing instructions executable by the processor to receive eye gaze input from each of the two eye trackers, calibrating and optimizing the eye gaze input from the eye trackers.
Eye gaze-driven movement commands for robotic endoscopic application
At least one processor with memory storing instructions executable by the processor for sending movement commands to a robotic manipulator arm holding an endoscopic camera or surgical instruments based on the eye gaze input.
The claim coverage is centered on driving robotic endoscopic applications using eye gaze measured by two eye trackers whose head boxes overlap, with at least one tracker adjustable to modify the overlap region. The system further uses processor instructions to calibrate and optimize redundant eye gaze input from both trackers, and to send movement commands to a robotic manipulator arm. Dependent claims further specify vertical/horizontal adjustability relative to the monitor, the inclusion of a polarizing filter, and removal of illumination interference from one tracker using input received from the second tracker during the eye gaze capture process.
Stated Advantages
Robustness against head-box loss via redundant acquisition and adjustable overlap between the first and second head boxes.
Improved handling of poor eye gaze data using selection based on quality indicators and fallback/prediction.
Mitigation of inter-tracker IR illumination interference using mutual-exclusion mechanisms.
Documented Applications
Driving a robotic manipulator arm holding an endoscopic camera using eye gaze measured from a user viewing a surgical field image on a monitor.
Driving robotic manipulator arm holding surgical instruments based on eye gaze input.
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