A novel foot interface versus voice for controlling a robotic endoscope holder

Yan Jun Yang, Soumith Udatha, Dana Kulić, Elahe Abdi

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

2 Citations (Scopus)


In traditional minimally invasive surgery, a camera holding assistant is required to provide a view of the operation site for the surgeon. The surgeon's performance relies on the quality of this video footage, which is sensitive to surgeonassistant communication errors and the assistant's fatigue or inattention. Thus, we propose a novel foot interface to give the surgeon direct control over a robotic camera holder to replace the human camera holding assistant. The foot interface should allow the surgeon to control the camera while their hands are occupied with the primary surgical task. It can control 4 degrees of freedom of the camera's pose at 2 speeds. A preliminary experiment consisting of representative endoscope control tasks was conducted to evaluate and compare the performance of the novel foot interface and a voice interface using Google Cloud Speech. The foot interface performed better than the voice system in average completion time and error rate, with lower cognitive burden. Participants found the foot interface intuitive with a natural mapping between the foot and the robotic arm movements. The command actuation process is simplified and optimized to reduce the physical strain to the same low level as the voice system based on the subjective assessment after each task. Subjective assessment showed that 95% of the participants thought the foot interface provided better control of the camera movement and 90% preferred using the foot interface over the voice interface.

Original languageEnglish
Title of host publication2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
EditorsConor Walsh
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages8
ISBN (Electronic)9781728159072
ISBN (Print)9781728159089
Publication statusPublished - 2020
EventInternational Conference on Biomedical Robotics and Biomechatronics 2020 - New York City, United States of America
Duration: 29 Nov 20201 Dec 2020
Conference number: 8th
https://ieeexplore-ieee-org.ezproxy.lib.monash.edu.au/xpl/conhome/9219774/proceeding (Proceedings)

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Publisher IEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)2155-1774
ISSN (Electronic)2155-1774


ConferenceInternational Conference on Biomedical Robotics and Biomechatronics 2020
Abbreviated titleBioRob 2020
Country/TerritoryUnited States of America
CityNew York City
Internet address

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