Efficient and Low-Cost Deep-learning Based Gaze Estimator for Surgical Robot Control

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Efficient and Low-Cost Deep-learning Based Gaze Estimator for Surgical Robot Control
	Li P(李鹏)3; Duan, Xingguang 2; Song GL(宋国立)1 ; Wei, Le 3; Hou, Xuebin 3
	2018
会议日期	August 1-5, 2018
会议地点	Kandima, Maldives
关键词	Deep Learning Minimally Invasive Surgery Gaze estimation Convolutional Neural Neural Surgical robot
页码	58-63
英文摘要	Surgical robots are playing more and more important role in modern operating room. However, operations by using surgical robot are not easy to handle by doctors. Vision based human-computer interaction (HCI) is a way to ease the difficulty to control surgical robots. While the problem of this method is that eyes tracking devices are expensive. In this paper, a low cost and robust deep-learning based on gaze estimator is proposed to control surgical robots. By this method, doctors can easily control the robot by specifying the starting point and ending point of the surgical robot using eye gazing. Surgical robots can also he controlled to move in 9 directions using controllers' eyes gazing information. A Densely Connected Convolutional Neural Networks (Dense CNN) model for 9-direction/36-direction gaze estimation is built. The Dense CNN architecture has much more less trainable parameters compared to traditional CNN network architecture (AlexNet like/VGG like) which is more feasible to deploy on the Field-Programmable Gate Array (FPGA) and other hardware with limited memories.
源文献作者	IEEE ; IEEE Robot & Automat Soc
产权排序	2
会议录	Proceedings of the 2018 IEEE International Conference on Real-time Computing and Robotics
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-6869-6
WOS记录号	WOS:000459211400010
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/24241]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Song GL(宋国立); Hou, Xuebin
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China 3.School of Mechanical Engineering and Automation, Harbin Institute of Technology (ShenZhen), Shenzhen, China.
推荐引用方式 GB/T 7714	Li P,Duan, Xingguang,Song GL,et al. Efficient and Low-Cost Deep-learning Based Gaze Estimator for Surgical Robot Control[C]. 见:. Kandima, Maldives. August 1-5, 2018.