Autonomous Robotic Laparoscope Based on Eye Tracking
Songpo Li and Xiaoli Zhang
Summary: An autonomous control framework for robotic laparoscope using eye tracking
Description: One problem inherent with known laparoscopic surgery techniques is
inconvenient, limited visualization in comparison with traditional open surgery. The surgeon’s
view is limited to only what is directly in front of the scope, which must frequently be
readjusted. Currently, laparoscope adjustments rely on the surgeon’s intervention by either
verbally communicating with the human assistant or physically manipulating a robotic holder
through various control interfaces. This invention is of a two-dimensional eye tracking system
that allows the surgeon to naturally and effortlessly control the robotic laparoscope. This
system allows the robot to unobtrusively monitoring the surgeon’s gaze movements to track
her/his viewing attention and to automatically adjust the field of view correspondingly. This
fully eliminates manipulation of the laparoscope from the surgeon’s end, which drastically
reduces the learning curve, using difficulty, and operation time and cost.
Main Advantages of this Invention
 Provides a natural interface
between surgeon and camera
 Does not restrict the surgeon’s
head mobility
 Increases eye-tracking
Potential Areas of Application
The intuitive gaze guidance framework
 Laparoscopic surgery
ID number: 15006
Intel ectual Property Status: US provisional patent filed
Opportunity: We are seeking an exclusive or non-exclusive licensee for implementation of this
For more information contact:
William Vaughan, Director of Technology Transfer
Colorado School of Mines, 1500 Illinois Street, Guggenheim Hall Suite 314, Golden, CO 80401
Phone: 303-384-2555; e-mail: